This chapter gives a brief introduction to the digital link between master and slaves, as defined by the standard EN 61491 "Serial data link for real time communication between command units and training devices".

This Chapter contains the following Maps:

Topic

Introduction

Introduction to SERCOS® architecture

Page

TLX DS 57 PL7 xx

SERCOS Architecture

Introduction

Digital Link The digital link between an axis command module (master) and intelligent drives

(slaves) is defined by European standard EN 61491 concerning electrical equipment for industrial machines.

The use of a distributed architecture enables the input/output applications (position encoder, emergency stop etc.) to be connected directly to the drives, which reduces cabling costs.

The fiber optic link enables high speed exchanges (2 or 4 MHz) and ensures immunity against parasites.

Exchanged Data There are two types of data exchanged via the digital link : l cyclic data exchanged from master to slaves (position command etc.) or from slaves to master (position measurement etc.). Cyclic data exchange between the master and each slave is limited to 8 read and 8 write objects per SERCOS® l cycle.

non-cyclic data : complex commands, parameter write or read etc.

For each cycle, these exchanges are made via 2 reserved bytes in read and 2 reserved bytes in write. Several cycles are therefore required to exchange an object (eg. to complete a parameter read).

Identification of

Exchanged

Objects

All objects may be accessed using an identification number : IDN.

The standard can identify 31 768 objects and specify about 300 (e.g. IDN 40 = speed value).

All objects consist of the following fields: Name (maximum 64 characters), attribute, unit, maximum value, minimum value, value.

Operating Modes The bus operating modes follow 5 phases as follows:

At start up

Phase

Phase 0

Phase 1

Phase 2

Phase 3

Operating mode

Bus ring test. The drives are in repeater mode.

Determination of slaves on the bus.

Drive system configuration.

Cyclic exchange programming.

Drive parametering.

TLX DS 57 PL7 xx

SERCOS Architecture

In normal operation

Phase

Phase 4

Operating mode

Active cyclic exchanges.

Each drive acting as a repeater on the bus, a power supply cut, a communication error, a fault on one of the drives or the disconnection of the power supply to the bus causes it to switch to phase 0.

Note: Certain parameters (IDN) may only be accessed in phase 3 (see standard

EN 61491). The following functions GetActualPhase, GetCommandedPhase and

SetCommandedPhase indicate the active phase and set it in phase 3.

TLX DS 57 PL7 xx

SERCOS Architecture

Introduction to SERCOS® architecture

Overview The overview of the SERCOS® architecture is as follows

Axis command module

TSX CSY 84

Bus ring

Speed drives

Motors

PL7 Junior/Pro + UniLink

Introduction to the Premium package l l l

The Premium package consists of : l the range of Premium PLCs (rack, supply, processor etc.) : TSX/PCX/PMX 57 minimum version V3.3 .

l the axis command module TSX CSY 84 which can control up to 8 drives via the bus ring, the range of Lexium 17S drives (4 A to 56 A) : LXM 17S the range of motors : BPH, etc.

l the PL7 Junior / Pro V4.0 minimum + additive software which enables the TSX

CSY 84 module to be configured, controlled and debugged as well as enabling the movement application to be programmed,

UniLink software which can be used to enter parameters and adjust drives.

TLX DS 57 PL7 xx

Functional

Diagram

SERCOS Architecture

The following diagram shows the different functions performed by the axis command module and drives :

PL7 Junior/Pro UniLink

PLC

TSX/PCX/PMX

Bus X

Program application

TSX CSY 84

Trajectory calculation

Interpolation

Bus ring

Variable speed controller

Lexium 17S

Position loop

Speed loop

Current loop

Power conversion

Speed

Position

BPH motor

Note: It is possible to use a variable speed controller that is not in the Premium range. In this case, it will be configured by its own configuration software and not by UniLink.

Functions performed by the various modules

The axis command module TSX CSY 84 performs the trajectory calculation and interpolates several axes.

The variable speed controller controls the position, speed and couple loops. It also provides the power conversion to control the motor. The encoder information is sent to the variable speed controller (actual position, current speed).

The exchanges between the PLC and the axis command module occur via bus X at the bottom of the rack.

The exchanges between the axis command module and the drives use the

SERCOS® bus ring.

TLX DS 57 PL7 xx

SERCOS Architecture

TLX DS 57 PL7 xx

Setup methodology

At a glance

Aim of this chapter

What's in this

Chapter?

This chapter describes the global methodology for implementing movement of an independent axis or interpolated axes.

This Chapter contains the following Maps:

Topic

Introduction

Implementing an Independent Axis

Implementation of a co-ordinated or slave axis group

Page

TLX DS 57 PL7 xx

Implementation methodology

Introduction

TSX CSY 84 module functionalities

The TSX CSY 84 module can be used to perform the following functionalities: l l l l

8 real axes connected to a drive (channels 1 – 8),

4 imaginary axes (channels 9 – 12),

4 axes with external measurement output (channels 13 – 16), l

4 groups of coordinated axes (channels 17 – 20). Each group may be used for linear interpolation of between 2 and 8 axes,

4 groups of slave axes (channels 21 – 24). Each group may contain a maximum of 7 axes: 1 master axis and 6 slave axes,

Note: The TSX CSY 84 module also provides 7 cam profiles (channels 25 – 31).

Real axis

Imaginary axis

Remote axis

A real axis is a physical axis which controls a drive via the SERCOS® bus ring.

An imaginary axis is not a physical axis. It can, however, be used to coordinate the movements of several physical axes. For example, an imaginary axis may be the master axis in a slave group.

An imaginary axis can also be used in the adjustment or debugging phase to simulate a real master axis independently of the process.

A remote axis can be used to upload an item of remote position data to the module.

Typically the TSX CSY 84 module must take up a sequential position from an encoder controlled by an external mechanism and connected to the output of the auxiliary position of the drive.

Coordinated axis group

A group of coordinated axes consists of axes which move in coordination with one another. One of the axes in the set, defined as the coordination master, acts as a speed reference for the movement of the set.

The acceleration and speed of other coordinated axes will be calculated so that all the axes move at the same time.

TLX DS 57 PL7 xx

Implementation methodology

Slave axis group A group of slave axes consists of a master axis and slave axes which follow the movement of the master axis. There are 2 ways of following the master axis: l gearing: each slave axis follows the master axis according to a relationship that has been defined in configuration, known as the Slave relation. For example, the position of the slave equates to that of the master multiplied by a relationship x, l camming: the slave axes follow the master axes according to a cam profile.

A cam profile can be used to implement an electronic cam in order to simplify the task of programming complex movements. A points table is used to define the position of the slave according to the master's position.

TLX DS 57 PL7 xx

Implementation methodology

Implementing an Independent Axis

Introduction An individual axis can be either a real axis connected to a drive, an imaginary axis, or a remote axis.

The groups of slave or co-ordinated axes consist of a collection of independent axes

(real, imaginary or remote).

Implementation

Methodology for a Real Axis

Before a real axis may be implemented, channel 0 must be enabled (all the channel

0 ALLOW bits: %Qxy.0.18 et %Qxy.0.26 à %Qxy.0.31 are in position 1).

Implementation methodology for a real axis occurs in 3 phases: l l

Phase 1: configuration of the drive using UniLink software,

Phase 2: configuring the TSX CSY 84 module, using the PL7 configuration editor l

(module declaration and parameter configuration for all axes used),

Phase 3: program application writing, transferred from this program to the PLC and application debugging.

Note: Enabling Unilink software drives inhibits module commands to the drive. It is also necessary to disable the drive before exiting Unilink software.

Implementation

Methodology for an Imaginary

Axis

An imaginary axis is not connected to a drive (it is not a physical axis). Except for operations linked to a drive that does not exist, the implementation of an imaginary axis is the same as for a real axis.

Implementation

Methodology for a Remote Output

A remote output has far fewer functions than other kinds of independent axes. Its implementation is identical to the implementation of a real or imaginary axis in which only the position data needs to be configured. In this case, all operations linked to the drive or the programming of a movement do not exist.

TLX DS 57 PL7 xx

Implementation methodology

Implementation

Methodology for a Real Axis

Overview

Start

Declaration of the module in the PLC configuration

PL7 Junior/Pro

Configuration editor

Configuration of functions and entry of parameters for the axes used

PL7 Junior/Pro

Configuration editor

Configuration of drive and resolver motor parameters

Programming movements in the global application

PL7 Junior/Pro

Program editor

UniLink

Application transfer to the

PLC memory

PL7 Junior/Pro

Transfer mode

Phase 2

Parameter adjustment using operating codes

(common, module and drive parameters).

PL7 Junior/Pro Parameter adjustment for the drives. Parameters saved in the drives or in the PLC.

Phase 1

UniLink

Tests and debugging

(speed drives and bus ring)

PL7 Junior/Pro

Debug mode

Writing drive parameters to the PLC.

File editing

PL7 Junior/Pro

Documentation editor

Operation

PL7 or control panel

End

UniLink

Oscilloscope

Phase 3

TLX DS 57 PL7 xx

Implementation methodology

Implementation of a co-ordinated or slave axis group

Group of coordinated axes

Co-ordinated axes are real or imaginary axes. A group of co-ordinated axes may be implemented by first implementing the real axes (methodology described on previous pages) and then the group.

Slave Axis Group In a slave axis group, the master axis may be real, imaginary or external and the slave axes may be real or imaginary. Implementing a slave axis group first entails implementing the independent axes which make up this group, following the methodology described on the previous pages, and then the group.

TLX DS 57 PL7 xx

Tutorial

At a glance

Aim of this chapter

What's in this

Chapter?

This chapter provides an example of the implementation of a movement command application using the SERCOS® package for TSX Premium PLCs.

This Chapter contains the following Maps:

Topic

Description of the example

Trajectory description

Description of commands in manual mode

Prerequisites and methodology

Variable Speed Controller Configuration

Module TSX CSY 84 configuration

Symbolization

Symbolization of TOR input/output modules

Axis command module symbolisation:

Programming preprocessing

Programming the Grafcet chart

Transitions programming

Actions programming

Programming of post-processing

Program transfer

Adjusting the Parameters

Introduction to the Debug Mode

Page

TLX DS 57 PL7 xx

Tutorial

Description of the example

Introduction

Transfer Device

This example is given for teaching purposes only. It will enable you to follow each phase of implementation for axis command TSX CSY 84 without having to read the whole manual.

A transfer device ensures that machining outputs are removed. This device is made up of a claw which can move within the space on an axis (X and Y axes) parallel to the ground.

When an item appears on the removal conveyor belt A, the claw automatically locates it in order to place it on belt B or C depending on the type of item. The claw then returns to position, ready to grab as soon as a new machined item is detected.

Illustration

Machining equipment C1

Conveyor A

Conveyor B

Conveyor C

Inputs/Outputs The inputs/outputs are as follows :

O/F machined item detection cell identification sensor for item type claw open/closed detection sensor detection cell at the edge of the item (in the claw), connected to the input module event claw : claw open/close command

TLX DS 57 PL7 xx

Application

Grafcet

The application Grafcet is as follows :

Reference point

Referenced axes

Move to waiting position

Detection of a machined part

Move to conveyor A

Detection of edge of part and grab stationary

Close grab

Type 1 part and grab closed

Move to conveyor B

Grab stationary

Open grab

Grab open

Type 2 part and grab closed

Move to conveyor C

Grab stationary

Tutorial

TLX DS 57 PL7 xx

Tutorial

Trajectory description

Trajectory illustration

The following diagram describes the trajectory:

Y_LMAX

Conveyor A

Waiting position

Conveyor B

Conveyor C

X_LMIN

Y_LMIN

X_LMAX

Description

Source port at speed Vp0

Switch at Vret speed to the ready position (Xatt, Yatt) with stop

Switch to the A conveyor belt (XA, YA) until the machined item is detected at speed VA

Switch to speed VB on belt B (XB, YB) with stop

6 Switch to speed VC on belt C (XC, YC) with stop

5, 7 Switch at Vret speed to the ready position (Xatt, Yatt) with stop

TLX DS 57 PL7 xx

Tutorial

Description of commands in manual mode

Front Panel of the Human-

Machine

Interface

The following commands are regrouped on a front panel in order to control the moving part manually whilst there is an installation error. The commands and LEDs are run by input and output TOR modules

Auto X Y Fault

Manual Axis selection

Start cycle

Homing Ack.

Fault

Stop cycle

Reverse Forward Emergency stop

Open grab Close grab

Description of the Commands l l l l l l l l l l l

Auto / Man: operating mode selector switch.

Start cycle: automatic execution of the cycle.

Stop cycle: automatic stopping of the cycle.

X / Y axis selection: Axis selection for control in manual mode.

Source port: manual source port on the selected axis.

Forward / Reverse: positive or negative manual switch command for the selected axis.

Fault: LED batches all hardware and application faults.

Ack. fault: command to acknowledge faults present.

Emergency stop: immediate stop of the moving part whatever mode is selected.

Open grab: claw open command.

Close grab: command to close the grab.

TLX DS 57 PL7 xx

Tutorial

Prerequisites and methodology

Requirements

Methodology l l l

In order to restrict this description to the specific functions for the axis command, it should be assumed that the following operations have already been performed.

PL7 software, version > V3.4B is installed.

UniLink software is installed.

hardware is installed.

l l

Implementation of the TSX XSY 84 module requires: configuration of the Lexium 17S variable speed controller, using UniLink software configuration of the TSX XSY 84 module, using PL7 software (version > V3.4B).

TLX DS 57 PL7 xx

Variable Speed Controller Configuration

Connection to the variable speed controller

Access to the UniLink software displays the following screen :

COM1

COM2

Offline

Disconnect

Interfaces

Tutorial

Click on COM1 or COM2 to connect to the variable speed controller (this depends on the serial port used on the programming terminal for connection to the variable speed controller).

Configuration of the motor and the SERCOS® address

Please consult the UniLink software user manual on how to configure the motor and the SERCOS® address.

TLX DS 57 PL7 xx

Tutorial

Module TSX CSY 84 configuration

Software

Declaration of the PLC

Configuration

Launch the PL7 software, select the New File command, select a Premium processor and check the Grafcet option.

Access the configuration editor from the application browser. To do this: l l open the Station folder (double click on the icon or click on its link), open the Configuration folder (double click on the icon or click on its link), l double click on the hardware Configuration icon.

Then select each component in the PLC configuration. The following items have been selected in this application: l l l l l rack 0 and rack 1 : TSX RKY 8E processor: TSX P57 303, supply modules : TSX PSY 2600 for rack 0 and TSX PSY 5500 for rack 1,

32 inputs module : TSX DEY 32D2K in position 2 of rack 0,

32 outputs module : TSX DSY 32T2K in position 3 of rack 0, l axis command module : TSX CSY 84 in position 2 of rack 1.

Configuration Screen

Configuration

TSX 57303 V5.0 XMWI

XTI..

5 6

2 3 4 5 6

The processor cycle time should exceed 8ms (2 x the duration of the module cycle).

TLX DS 57 PL7 xx

Axis configuration

Tutorial

Double click on the TSX CSY 84 module (position 2 of rack 1), which displays the configuration screen.

l In the channel level zone select: 1 Real, then the Real axis function, l Enter the parameter values, in accordance with the following screen :

TSX CSY 84 [RACK0 POSITION 3]

Configuration

Designation: 8 AXIS N4 MOTION.CONT

Symbol:

Channel:

Real 1

Function:

Real axis

Configured channels: 0, 1, 2

Task:

MAST

Limits

Position checking

Max. Position 5.000000e+005

Min. Position -5.000000e+005

Max. speed 1.200000e+004

Max. Acceleration 1.200000e+004

Max. Deceleration 1.200000e+004

Ctrl. of the enabled position

Active

Tolerance 0.000000e+000

Units

Type

Position

Speed

Acceleration

Scale factor

Numerator

Denominator

Linear mm mm/min

µ m/s²

2.000000e+000

1.000000e+000

Movement

Modulo

Max. modulo

Min. modulo

0.000000e+000

In-position band

Acceleration

Deceleration

1.000000e+005

1.000000e+004

Acceleration type

Rectangle 100 % l l l

Enter the same parameters for the second axis (Integer 2).

Confirm the entry using the Edit /Confirm command or the icon

On the main screen of the configuration editor, confirm the configuration using the

Edit / Confirm command or the icon :

Note: Maximum speed. (Max speed) is set for a 6000 revs/min motor, with movement of 2mm per rev.

TLX DS 57 PL7 xx

Tutorial

Symbolization

Entering symbols

Entering symbols may be accessed by double clicking in the application browser, and in sequence on the Variable and I/O icons.

Variables

Parameters I/O

Address

%I102.0

%I102.0.1

%I102.0.2

%I102.0.3

%I102.0.4

%I102.0.5

%I102.0.6

%I102.0.7

%I102.0.8

%I102.0.9

%I102.0.10

%I102.0.11

%I102.0.12

%I102.0.13

%I102.0.14

%I102.0.15

%I102.0.16

%I102.0.17

%I102.0.18

%I102.0.19

%I102.0.20

%I102.0.21

%I102.0.22

%I102.0.23

%I102.0.24

%I102.0.25

%I102.0.26

Addr.

102 : TSX CSY 84

Type

EBOOL

Ap2_steady

Symbol

Ap2_ramping

Ap2_stopping

Ap2_profile_end

Ap2_in_position

Ap2_axis_homing

Ap2_axis_homed

Ap2_axis_not_following

Ap2_holding

Ap2_resuming

Ap2_drive_enable

Ap2_drive_diag

Ap2_drive_warning

Ap2_drive_fault

Ap2_drive_disabled

EBOOL Ap2_axis_summary_fault

EBOOL Ap2_axis_comm_ok

EBOOL

Ap2_axis_is_linked

Ap2_axis_at_target

Ap2_axis_pos_limit

Ap2_axis_neg_limit

Ap2_drive_realtime_bit1

Entry field

Comment

Motion profile in acceleration or deceleration

Motion profile in constant velocity

Motion profile in deceleration to the target position

Motion profile commands processed + move queue empt

Target reached within Tolerance band

Homing command in execution

Axis in home position and the drive’s position valid

Motion profile disabled to perform a special operation(ex:

Motion profile in deceleration or paused

Motion profile in acceleration back following a resume co

Drive enabled with motor power

SERCOS class 3 diagnostic bit changed

SERCOS class 2 diagnostic bit changed

SERCOS class 1 diagnostic bit changed

Drive desabled and motor power removed

Motion profile fault (drive fault or drive communication fau

Axis power up and communication drive active

Axis active and responding to commands (VirtualMaster

At_target in Position tolerance band

Axis position beyond the positive position limit

Axis position is beyond the negative position limit

Axis in home position and the drive’s position valid

Symbols for internal variables

The following internal variables are symbolized:

Comment Address

%MF102

%MF104

Symbol

Speed_reached

Man_speed

TLX DS 57 PL7 xx

Tutorial

Symbolization of TOR input/output modules

TOR input module symbols

%I2.7

%I2.8

%I2.9

%I2.10

%I2.11

%I2.12

%I2.13

%I2.14

The TOR input module is positioned in slot 2 of rack 0. The symbols are as follows

Address

%I2.1

%I2.2

%I2.3

Symbol

Sensor_2

Sensor_3

Auto_man

Comment

Item identification sensor (0= type 2,

1 = type 1)

Grab open / grab closed sensor

Select mode switch (0 = auto

1 = man 1)

%I2.4

%I2.5

%I2.6

Start_cycle

Stop_cycle x_y_selection Select axis manually to move or PO (1 = x; 0

= y)

Home_man

Forward

Reverse

Ack_fault

Fault_type

Enable_axes

Open_grab

Close_grab

Confirm axes

Output Module

Symbols

The TOR input module is positioned in slot 3 of rack 0. The symbols are as follows

Address

%Q3.0

%Q3.1

Symbol

Grab

Fault

Comment

Actuator command to open / close grab

Fault indication

TLX DS 57 PL7 xx

Tutorial

Axis command module symbolisation:

List of symbols The axis command module is positioned in slot 2 of rack 1.

These symbols are as follows:

Comment

%I102.1.15

%I102.1.16

%I102.1.17

%I102.1.18

%I102.1.19

%I102.1.20

%I102.1.21

%I102.1.22

%I102.1.26

%I102.1.27

%I102.1.28

%I102.1.29

%I102.1.30

%I102.1.31

%IF102.1

Address

%I102.1

%I102.1.1

%I102.1.2

%I102.1.3

%I102.1.4

%I102.1.5

%I102.1.6

%I102.1.7

%I102.1.8

%I102.1.9

%I102.1.10

%I102.1.11

%I102.1.12

%I102.1.13

%I102.1.14

Symbol

Ramping_x

Steady_x

Stopping_x

Profile_end_x

In_position_x

Axis_homing_x

Axis_homed_x

Axis_not_following_x

Holding_x

Resuming_x

Drive_enable_x

Drive_diag_x

Drive_warning_x

Drive_fault_x

Drive_disable_x

Axis_summary_fault_x

Axis_comm_ok_x

Axis_is_linked_x

Axis_in_command_x

Axis_capture_x

Axis_at_target_x

Axis_pos_limit_x

Axis_neg_limit_x

Drive_realtime_bit1_x

Drive_realtime_bit2_x

Axis_hold_x

Axis_halt_x

Axis_faststop_x

+Axis_ready_x

Position_x

TLX DS 57 PL7 xx

Tutorial

TLX DS 57 PL7 xx

Address

%Q102.1.2

Symbol

Control_acquire_x

Control_enable_x

Control_resume_x

Control_clear_fault_x

Allow_capture_x

Allow_acquire_x

%Q102.1.26

%Q102.1.27

Allow_enable_x

Allow_follow_x

%Q102.1.28

Allow_resume_x

%MW102.1.19

Err_write_cmd_x

%MD102.1.20

Return_1

%MD102.1.27

Param_1

%MD102.1.29

Param_2

%MF102.1.22

Return_2

%MF102.1.24

Return_3

%MF102.1.31

Param_3

%MF102.1.33

Param_4

%I102.2

Ramping_y

%I102.2.1

%I102.2.2

%I102.2.3

%I102.2.4

Steady_y

Stopping_y

Profile_end_y

In_position_y

%I102.2.5

%I102.2.6

%I102.2.7

%I102.2.8

%I102.2.9

%I102.2.10

%I102.2.11

%I102.2.12

%I102.2.13

%I102.2.14

%I102.2.15

%I102.2.16

Axis_homing_y

Axis_homed_y

Axis_not_following_y

Holding_y

Resuming_y

Drive_enable_y

Drive_diag_y

Drive_warning_y

Drive_fault_y

Drive_disable_y

Axis_summary_fault_y

Axis_comm_ok_y

Comment

Tutorial

Address

%I102.2.17

%I102.2.18

%I102.2.19

%I102.2.20

%I102.2.21

%I102.2.22

Symbol

Axis_is_linked_y

Axis_in_command_y

Axis_capture_y

Axis_at_target_y

Axis_pos_limit_y

Axis_neg_limit_y

%I102.2.26

%I102.2.27

%I102.2.28

%I102.2.29

Drive_realtime_bit1_y

Drive_realtime_bit2_y

Axis_hold_y

Axis_halt_y

%I102.2.30

%I102.2.31

Axis_faststop_y

Axis_ready_y

%IF102.2

Position_y

%MD102.2.20

Return_12

%MD102.2.27

Param_12

%MD102.2.29

Param_22

%MF102.2.22

Return_22

%MF102.2.24

Return_32

%MF102.2.31

Param_32

%MF102.2.47

Param_42

Comment

TLX DS 57 PL7 xx

Programming preprocessing

MAST - PRL ! (*Chart initialisation*)

IF NOT %I2.4 OR %S1 THEN SET %S21; END_IF;

! (*Initialisation of movement values*)

%MF50 := %MF52 := 1000.0; (*Ready position*)

%MF54 := 2000.0; (*Move to belt B axis X*)

%MF56 := 1500.0; (*Move to belt B axis Y*)

%MF58 := 2000.0; (*Move to belt C axis X*)

%MF60 := 500.0; (*Move to belt C axis Y*)

%MF102 := 10000.0; (*Auto speed*)

%MF104 := 2000.0; (*Manual speed*)

%MF106:= 1000.0; (*Reference point speed*)

(*Initialization of channel 0*)

%Q102.0.26 := NOT %S0;

%L10:

Tutorial

TLX DS 57 PL7 xx

Tutorial

Programming the Grafcet chart

CHART - PAGE 0 Grafcet

(*INIT*)

(*start cycle*)

(*enable axes x and y*)

(*axes enabled*)

(*home axes x and y*)

(*referenced axes*)

(*move to waiting position*)

(*detect a part>> 1

(*move to conveyor a*)

(*detect edge of part*)

List of connectors

(*detection of a machined item*)

(*belt b movement*)

(*belt c movement*)

(*close grab*)

(*movement>> 2

(*movement>> 3

(*open grab*)

(*grab open*)

TLX DS 57 PL7 xx

Tutorial

Transitions programming

Step 0 -> 1

Step 1 -> 2

Step 2 -> 3

Step 3 -> 4

Step 4 -> 5

Step 5 -> 6 l %X(0) -> %X(1)

! (*dcy and auto mode and no error *)

%I2.4 AND NOT %I2.3 AND NOT %I102.1.15 AND NOT %I102.2.15

l %X(1) -> %X(2)

! (*%m1 manual control // %mw2.x.3 = 1 -> ERR WRITE_CMD*)

%I102.1.10 AND %I102.2.10

l %X(2) -> %X(3)

! (*verification if drives are referenced and the command made*)

%I102.1.6 AND %I102.2.6

AND (%MW102.1.19 = 0) AND (%MW102.2.19 = 0) AND NOT

%MW102.1:X1

AND NOT %MW102.2:X1 (*check exchanges*) l %X(3) -> %X(4)

! (*verification => end of instruction and in position*)

%I102.1.3 AND %I102.2.3 AND %I102.1.4 AND %I102.2.4

(*check axes*)

AND %I3.0

(*part present*)

AND (%MW102.1.19 = 0) AND (%MW102.2.19 = 0) AND NOT

%MW102.1:X1

AND NOT %MW102.2:X1 (*check exchanges*) l %X(4) -> %X(5)

! (*verification => end of instruction and in position*)

%I102.1.3 AND %I102.2.3 AND %I102.1.4 AND %I102.2.4

(*check axes*)

AND (%MW102.1.19 = 0) AND (%MW102.2.19 = 0) AND NOT

%MW102.1:X1

AND NOT %MW102.2:X1 (*check exchanges*) l %X(5) -> %X(6)

! (*machined item identification*)

%I2.1 AND %I2.2

TLX DS 57 PL7 xx

Tutorial

Step 6 -> 7

Step 7 -> 3

Step 5 -> 10

Step 10 -> 7 l %X(6) -> %X(7)

! (*verification => end of instruction and in position*)

%I102.1.3 AND %I102.2.3 AND %I102.1.4 AND %I102.2.4

(*check axes*)

AND (%MW102.1.19 = 0) AND (%MW102.2.19 = 0) AND NOT

%MW102.1:X1

AND NOT %MW102.2:X1 (*check exchanges*) l %X(7) -> %X(3)

! (*open grab?*)

NOT %I2.2

l %X(5) -> %X(10)

! (*machined item identification*)

NOT %I2.1 AND %I2.2

l %X(10) -> %X(7)

! (*verification => end of instruction and in position*)

%I102.1.3 AND %I102.2.3 AND %I102.1.4 AND %I102.2.4

(*check axes*)

AND (%MW102.1.19 = 0) AND (%MW102.2.19 = 0) AND NOT

%MW102.1:X1

AND NOT %MW102.2:X1 (*check exchanges*)

TLX DS 57 PL7 xx

Tutorial

Actions programming

Step 1

Step 2 l l

%X1 P1

! (*confirmation of axis channels 1 and 2*)

SET %Q102.1.10; SET %Q102.1.2; SET %Q102.2.10; SET

%Q102.2.2;

%X1 P0

! (*Initialization of values*)

SET %Q102.1.10; SET %Q102.1.2; SET %Q102.2.10; SET

%Q102.2.10;

RESET %Q102.2.2; l %X2 P1

! (*channel 2 reference point*)

%MW102.2.26 := 6034; (***Set position***)

%MD102.2.27 := 0; (***Param 1***)

%MD102.2.29 := 0; (***Param 2 ***)

%MF102.2.31 := 1.0; (***1 => positive direction, -1 negative direction***)

%MF102.2.33 := %MF106; (***speed***)

WRITE_CMD %CH102.2;

! (*channel 1 reference point*)

%MW102.2.26 := 6034; (***Set position***)

%MD102.1.27 := 0; (***Param 1***)

%MD102.1.29 := 0; (***Param 2***)

%MF102.1.31 := 1.0; (***1 => positive direction, -1 => negative direction***)

%MF102.1.33 := %MF106; (***speed***)

WRITE_CMD %CH102.1;

TLX DS 57 PL7 xx

Tutorial

Step 3

Step 4

Step 5 l %X3 P1

! (*channel 2 absolute movement*)

%MW102.2.26 := 513; (***Move Immed***)

%MD102.2.27 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE,

2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

%MD102.2.29 := 0; (***Param_2***)

%MF102.2.31 := %MF50; (Direction / Cont 1.0, Position / abs***)

%MF102.2.33 := %MF102; (***Speed***)

WRITE_CMD %CH102.2;

! (*channel 1 absolute movement*)

%MW102.2.26 := 6034; (***Set position***)

%MW102.1.26 := 513; (***Move Immed***)

%MD102.1.27 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE,

2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

%MD102.1.29 := 0; (***Param_2***)

%MF102.1.31 := %MF52; (Direction / Cont 1.0, Position / abs***)

%MF102.1.33 := %MF102; (***Speed***)

WRITE_CMD %CH102.1; l %X4 P1

! (*channel 1 absolute movement*)

%MW102.1.26 := 513; (***Move Immed***)

%MD102.1.27 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE,

2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

%MD102.1.29 := 0; (***Param_2***)

%MF102.1.31 := 0.0; (Direction / Cont 1.0, Position / abs***)

%MF102.1.33 := %MF102; (***Speed***)

WRITE_CMD %CH102.1;

! (*channel 2 absolute movement*)

%MW102.2.26 := 513; (***Move Immed***)

%MD102.2.27 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE,

2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

%MD102.2.29 := 0; (***Param_2***)

%MF102.1.31 := 0.0; (Direction / Cont 1.0, Position / abs***)

%MF102.2.33 := %MF102; (***Speed***)

WRITE_CMD %CH102.2; l %X5 P1

! (*close grab*)

SET %Q3.0;

TLX DS 57 PL7 xx

Step 6

Step 7

Step 10

Tutorial l %X6 P1

! (*channel 1 absolute movement*)

%MW102.1.26 := 513; (***Move Immed***)

%MD102.1.27 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE,

2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

%MD102.1.29 := 0; (***Param_2***)

%MF102.1.31 := %MF52; (Direction / Cont 1.0, Position / abs***)

%MF102.1.33 := %MF102; (***Speed***)

WRITE_CMD %CH102.1;

! (*channel 2 absolute movement*)

%MW102.2.26 := 513; (***Move Immed***)

%MD102.2.27 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE,

2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

%MD102.2.29 := 0; (***Param_2***)

%MF102.2.31 := %MF56; (Direction / Cont 1.0, Position / abs***)

%MF102.2.33 := %MF102; (***Speed***)

WRITE_CMD %CH102.2; l %X7 P1

(*open grab*)

RESET %Q3.0; l %X10 P1

! (*channel 1 absolute movement*)

%MW102.1.26 := 513; (***Move Immed***)

%MD102.1.27 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE,

2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

%MD102.1.29 := 0; (***Param_2***)

%MF102.1.31 := %MF58; (Direction / Cont 1.0, Position / abs***)

%MF102.1.33 := %MF102; (***Speed***)

WRITE_CMD %CH102.1;

! (*channel 2 absolute movement*)

%MW102.2.26 := 513; (***Move Immed***)

%MD102.2.27 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE,

2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

%MD102.2.29 := 0; (***Param_2***)

%MF102.2.31 := %MF60; (Direction / Cont 1.0, Position / abs***)

%MF102.2.33 := %MF102; (***Speed***)

WRITE_CMD %CH102.2;

TLX DS 57 PL7 xx

Tutorial

Programming of post-processing

MAST - POST ! (*----------RESET error management----------*)

IF %I2.10 THEN SET %Q102.1.15; SET %Q102.2.15; SET %Q102.1.2;

SET %Q102.20.2;

ELSE RESET %Q102.1.15; RESET %Q102.2.15;

RESET %Q102.1.2; RESET %Q102.2.2;

END_IF;

! (*----------Management of manual mode----------*)

(*Initialize G7*)

IF %I2.3 THEN SET %S21;

END_IF;

(*Enable axes for manual mode*)

IF %I2.10 THEN SET %Q102.1.2; SET %Q102.2.10; SET %Q102.2.2;

SET %Q102.2.10;

ELSE RESET %Q102.1.2; RESET %Q102.1.10; RESET %Q102.2.2;

RESET %Q102.1.10;

END_IF;

(**********Positive x channel manual mode**********)

IF RE%I2.9 AND %I2.6 THEN

%MW102.1.26 := 513; (***Move Immed***)

%MD102.1.27 := 2; (***Move type 2 = CONT_MOVE***)

%MD102.1.29 := 0; (***Param_2***)

%MF102.1.31 := 0.0; (***Direction***)

%MF102.1.33 := %MF104; (***Speed***)

WRITE_CMD %CH102.1;

END_IF;

(**********Negative x channel manual mode**********)

IF RE%I2.9 AND %I2.6 THEN

%MW102.1.26 := 513; (***Move Immed***)

%MD102.1.27 := 2; (***Move type 2 = CONT_MOVE***)

%MD102.1.29 := 0; (***Param_2***)

%MF102.1.31 := -1,0; (***Direction***)

%MF102.1.33 := %MF104; (***Speed***)

WRITE_CMD %CH102.1;

END_IF;

IF FE %I2.9 AND %I2.6 THEN %MW102.1.26:= 407;

WRITE_CMD %CH102.1;

END_IF;

TLX DS 57 PL7 xx

(**********Positive y channel manual mode**********)

IF RE%I2.9 AND NOT %I2.6 THEN

%MW102.2.26 := 513; (***Move Immed***)

%MD102.2.27 := 2; (***Move type 2 = CONT_MOVE***)

%MD102.2.29 := 0; (***Param_2***)

%MF102.2.31 := 0.0; (***Direction***)

%MF102.2.33 := %MF104; (***Speed***)

WRITE_CMD %CH102.2;

END_IF;

IF FE %I2.8 AND NOT %I2.6 THEN %MW102.2.26 := 407;

WRITE_CMD %CH102.2;

END_IF;

(**********Negative y channel manual mode**********)

IF RE%I2.9 AND NOT %I2.6 THEN

%MW102.2.26 := 513; (***Move Immed***)

%MD102.2.27 := 2; (***Move type 2 = CONT_MOVE***)

%MD102.2.29 := 0; (***Param_2***)

%MF102.2.31 := -1.0; (***Direction***)

%MF102.2.33 := %MF104; (***Speed***)

WRITE_CMD %CH102.2;

END_IF;

IF FE %I2.9 AND NOT %I2.6 THEN %MW102.2.26 := 407;

WRITE_CMD %CH102.2; END_IF;

(**********Manual homing of channel x**********)

IF RE %I2.7 AND %I2.6 THEN

%MW102.1.26 := 6034; (***Homing***)

%MD102.1.27 := 0; (***Param_1***)

%MD102.1.29 := 0; (***Param_2***)

%MF102.1.31 := 1.0; (***Direction***)

%MF102.1.33 := %MF106; (***Speed***)

WRITE_CMD %CH102.1;

END_IF;

Tutorial

(**********Manual homing of channel y**********)

IF RE %I2.7 AND NOT %I2.6 THEN

%MW102.2.26 := 6034; (***Homing***)

%MD102.2.27 := 0; (***Param_1***)

%MD102.2.29 := 0; (***Param_2***)

%MF102.2.31 := 1,0; (***Direction***)

%MF102.2.33 := %MF106; (***Speed***)

WRITE_CMD %CH102.2;

END_IF;

! (*----------Stop cycle in progress HALT instruction----------*)

IF RE%I2.5THEN %MW102.1.26:= 407; WRITE_CMD %CH102.1;

%MW102.2.26 := 407; WRITE_CMD %CH102.2;

END_IF;

! (*----------Error type read----------*)

IF RE%I2.11THEN%MW102.1.26 := 5510; WRITE_CMD %CH102.1;

%MW102.2.26 := 5510; WRITE_CMD %CH102.2;

END_IF;

! (*----------Disable channels----------*)

(*disable drive on channel 2*)

IF %M4THEN%MW102.2.26 := 402; WRITE_CMD %CH102.2; END_IF;

(*disable drive on channel 1*)

IF %M4THEN%MW102.2.26 := 402; WRITE_CMD %CH102.1; END_IF;

TLX DS 57 PL7 xx

Tutorial

Program transfer

Procedure for transferring a program

After the application has been configured and the program has been entered, they must be transferred into the PLC processor memory, by following the following procedure :

Step

Action

Connect the terminal to the PLC using the AP

→

Connectcommand.

Activate the AP

→

Transfercommand.

Select the Console ->PLC option.

Confirm transfer.

TLX DS 57 PL7 xx

Tutorial

Adjusting the Parameters

Introduction If needed, it can be important to be able to adjust the configuration parameters.

There are several possible ways of doing this: l you can return to local mode and modify the parameters directly inside the configuration screen, l PL7 enables you to also modify the parameters in online mode by using either: l the adjustment screens (method explained below), l the functions associated with the adjustment parameters via the application.

Adjustment procedure via the

PL7 screens

In order to carry out the parameter adjustment, you should perform the following steps:

Step

Action

Access the hardware configuration screen of the application.

Double click on the CSY 84 module. You can also select the module and execute the commandEdit

→

Open module.

TLX DS 57 PL7 xx

Step

Tutorial

Action

Activate theView

→

Adjust command to access the adjustment screen

(example: Channel 1)

Adjust

Designation: 8 AXIS N4 MOTION.CONT

Symbol:

Channel:

1 Real

Configured channels: 0, 1

Function:

Real axis

Limits

Position checking

Max. position 5.000000e+006

Min. position -5.000000e+002

Units

Type

Position

Speed

Max. speed 5.000000e+005

Max. accélération 5.000000e+004

Max. deceleration 5.000000e+002

Ctrl. of the enable position

Active

Tolerance 0.000000e+000

Acceleration

Scale factor

Numerator

Denominator

Linear

µ m

µ m/s

µ m/s²

Task:

MAST

1.000000e+000

Movement

Modulo

Max. modulo

Min. modulo

0.000000e+000

In-position band 7.000000e+000

Acceleration

Deceleration

1.000000e+002

1.000000e+001

Acceleration type

Rectangle 100 %

Transfer the variable speed controller parameters

Direction of transfer

PLC -> variable speed controller

Variable speed controller -> PLC

Transfer

Parameters

Transfer the variable speed controller parameters to the PLC memory:

Address table %MW 100

Length 200

Results

Error transfer: 22

Length of the table read : 00

Enter the possible changes.

Confirm the entries using the Edit

→

Confirm command or click on the icon

Restore/Save parameters

This service is available for the Network channel, the real, imaginary and remote axes as well as for the slave axes. For more information on this service, refer to the

Basic applications manual, Common applications section, RESTORE_PARAM and

SAVE_PARAM functions.

TLX DS 57 PL7 xx

Tutorial

Introduction to the Debug Mode

Introduction Once the application has been performed then transferred, it is often necessary to debug it.

PL7 will show you how to do this with the help of tools such as: l debugging screens that: l l have numerous indicators of the status of the application give access to the change of status of certain variables

Note: The debug function has to be in online mode.

Debug procedure

You can perform the program debugging in the following way:

Step

Action

Set the PLC to RUN.

Display the debug screen of the TSX CSY 84 module.

Note: You can simultaneously display a language editor in order to follow the development of the application.

Begin executing the program.

TLX DS 57 PL7 xx

Motion control with a TSX CSY 84 module

At a glance

Aim of this part

What's in this part?

This part introduces the TSX CSY 84 module and describes the implementation of a movement command with this module.

This Part contains the following Chapters:

Chapter

Chaptername

Functional description

Configuration

Programming

Adjustment

Debugging the TSX CSY 84 module

Diagnostics and Maintenance

Interface language

Appendices

Page

TLX DS 57 PL7 xx

Movement command with a TSX CSY 84 module

TLX DS 57 PL7 xx

Functional description

Introduction

Aim of this chapter

What's in this

Chapter?

This chapter describes the functionalities of module TSX CSY 84 and the functions it can perform.

This Chapter contains the following Maps:

Topic

Module Functions

"SERCOS®" function

"Real Axis" Function

"Imaginary Axis" Function

"Remote Axis" Function

Concept of the Group

"Co-ordinated Axis Group" Function

"Slave Axis Group" Function

"Cam Profile" Function

Page

TLX DS 57 PL7 xx

Functional description

Module Functions

At a Glance

Command exchange

Optimization of performance

Important l l l

The TSX CSY 84 module has 5 types of application specific functions : l l

SERCOS® function, installed by channel 0 (SERCOS® ring),

Independent axis function (real, imaginary, remote axes), installed by channels 1

– 16,

Co-ordinated axis group function, installed by channels 17 – 20,

Slave axis group function, installed by channels 21 – 24,

Cam profile function, installed by channels 25– 31.

For each of the application-specific functions (SERCOS® ring, individual axis, coordinated group, slave group and Cam profile), exchanges are made at the rate of

1 command per channel for every 2 scans of the MAST PLC task.

l l

The following 32 command bits enable commands to be authorized and confirmed :

16 bits CONTROL, active on the rising edge (%Qxy.i.0 à %Qxy.i.15),

16 bits ALLOW, active on the falling edge (%Qxy.i.16 à %Qxy.i.31),

The implicit exchanges (%I, %Q) are installed for all channels, on each cycle of the

MAST task. In order to optimize performance, it is recommended when possible to privilege the implicit exchanges (%Q), in relation to the explicit exchanges

(WRITE _CMD)

The TSX CSY 84 module must be configured in MAST task.

TLX DS 57 PL7 xx

Graphical

Representation of Exchanges

Functional description

Exchanges of a WRITE_CMD command are made according to the following principle :

Processor TSX CSY 84 module

MAST task 32 channels

Task

Command interpretation

Bus ring

WRITE_CMD(0,...)

Channel 0

WRITE_CMD(1,...)

WRITE_CMD(2,...)

Channel 1

Channel 2

32 registers

(1)

Time of cycle

= 4 ms

Channel n

16 registers

MoveQueue

(2)

(1) 32 registers (1 per channel)

(2) 16 registers of 32 commands (8 real, 4 imaginary, 4 co-ordinated axis groups)

TLX DS 57 PL7 xx

Functional description

"SERCOS®" function

At a Glance

Channel 0

Accessible

Services

The SERCOS® function is carried out by channel 0 of the TSX CSY 84 module. It controls the bus ring. On power up or during bus closure, the axis command module performs auto learning of the bus.

l l

Channel 0 is configured with default parameters. Modify parameters takes place

with the help of either configuration or adjustment screens,

via the application by means of explicit exchanges.

l l l l l l

Channel 0 enables the following services to be used (See

PL7 Interface, p. 318) :

READ_PARAM,

WRITE_PARAM,

WRITE_CMD,

SAVE_PARAM,

RESTORE_PARAM,

READ_STS.

TLX DS 57 PL7 xx

Functional description

"Real Axis" Function

At a Glance The "real axis" function is carried out by channels 1 – 8 of the TSX CSY 84 module.

It can control the drives via the bus ring to create physical axes (up to 8 possible physical axes).

Note: The parameters of an axis command module and variable speed controllers are run separately via PL7 and UniLink. So, if the user changes the value of a parameter used by the module and the variable speed controller, using the UniLink configurator, this will not be updated in the axis command module. After this type of operation, the user must therefore adjust the parameter in the module using PL7.

For more information on managing parameters, (see Parameter Management,

p. 320).

Note: The drive corresponding to the real axis 1 should be located at address 1 of the SERCOS(r).ring.

Accessible

Services l l l l l l l

Channels 1 - 8 allow the following services to be used (See

PL7 Interface, p. 318):

READ_PARAM,

WRITE_PARAM,

WRITE_CMD,

SAVE_PARAM,

RESTORE_PARAM,

READ_STS,

TRF_RECIPE.

TLX DS 57 PL7 xx

Functional description

"Imaginary Axis" Function

At a Glance

Accessible

Services

The "imaginary axis" function is performed by channels 9 to 12 of the TSX CSY 84 module.

An imaginary axis is not a physical axis but it can be used to co-ordinate the movement of several physical axes or it can also be the master axis of a slave axis group. It may also be used to test a system without moving the axis. l l l l l l

Channels 9 - 12 allow the following services to be used (See

PL7 Interface, p. 318) :

READ_PARAM,

WRITE_PARAM,

WRITE_CMD,

SAVE_PARAM,

RESTORE_PARAM,

READ_STS.

TLX DS 57 PL7 xx

Functional description

"Remote Axis" Function

At a Glance The "remote axis" function is performed by channels 13 – 16 of the TSX CSY 84 module. The remote axis is able to recognize position data from an external system.

The following diagram illustrates the difference between a real axis and a remote axis, as seen by the speed drive:

Module

TSX CSY 84

Channels

1…8

Sercos® bus

Position loop Speed loop

Current loop

Power conversion

Speed drive

Motor

External encoder

Motor

Auxiliary position

Channels

13…16

Remote axis

Remote Value

Accessible

Utilities l l

The external value is accessible, according to its configuration, via: language object (implicit exchange) %QDxy.i.0 (REMOTE_POSITION), a drive's auxiliary input.

Note: For theRemote value channels, supported by a real axis, fault signalling is done on the corresponding real axis channel.

l l l l l l

Channels 13 - 16 enable the following utilities to be used (See

PL7 Interface, p. 318)

READ_PARAM,

WRITE_PARAM,

WRITE_CMD,

SAVE_PARAM,

RESTORE_PARAM,

READ_STS.

TLX DS 57 PL7 xx

Functional description

Concept of the Group

Introduction

Movement Group All MovementGroups have their own MovementControl command interfaces.

l l

The MovementControl interface for an individual axis always acts on that axis.

The MovementControl interface for the SERCOS® ring acts on all of the

MovementGroup axes on the string.

l The MovementControl interface for Co-ordinated Groups or Slave Groups are only in effect if the MovementGroup is controlled (Get).

The position control of control bits in these registers causes the corresponding action to occur for a set of axes, rather than a single axis.

The MovementGroup scans the MovementControl interface every SERCOS® clock cycle. Consequent changes to a control bit must be separated by at least one

SERCOS® clock cycle. In general, the MovementStatus register for a

MovementGroup should be examined to determine whether a control bit's action was successful.

Configuration

Example

The TSX CSY 84 module uses the concept of the group to command axes. Any action on a group of axes entails an identical action on the member axes in the group.

Let us suppose that the following groups have been defined at configuration

Channel 0

SERCOS® group

Channel

Channel 1

Channel

Group of co-ordinated axes Slave axis group l l l

Channel 0: SERCOS® group

Channel 21: group of slave axes 21, comprising real axes 1 and 2,

Channel 17: group of co-ordinated axes 17, comprising real axes 1 and 3.

Any action on the Network channel (channel 0) affects groups 17 and 21, and real axes 1, 2 and 3.

Any action on the group of slave axes (channel 21) affects real axes 1 and 2.

Any action on the group of co-ordinated axes (channel 17) affects real axes 1 and 3.

Note: In order to use a real axis, this rule requires that the allow bits of the

SERCOS® group (channel 0) are set to 1.

TLX DS 57 PL7 xx

Functional description

"Co-ordinated Axis Group" Function

At a Glance The "co-ordinated axis group" function is performed by channels 17 – 20 of the TSX

CSY 84. A "co-ordinated axis group" is a collection of physical axes (up to 8) whose movements are co-ordinated between them. One of the axes in the group is defined as the co-ordination master.

The position of each of the axes is defined by the move command. The reference speed for the movement of the co-ordinated set is the speed of the co-ordination master. The acceleration and speed of other axes are calculated so that all the axes start and finish their movement at the same time.

Note: All the axes used by a co-ordinated set must be referenced before it is confirmed and before completing co-ordinated moves

Note: When axes are configured in the slave groups, it is recommended to associate one group to a given axis.

CAUTION

An axis member fault must be acknowledged at the level of the group

(CLEAR_FAULT).

Failure to observe this precaution can result in injury or equipment damage.

TLX DS 57 PL7 xx

Functional description

Reference Speed Reference speed for the movement of a co-ordinated axis group must be calculated in relation to the most restricted axis. The algorithm reduces the speed of the highest performing axes.

For example, in the case of a 2 axis system

V’x

Tangential

Speed

X1 X’1

Most restrictive axis

X’1

V = (V’x

+ Vy

)

1/2

Tangential speed is calculated in relation to the projection on the X axis of the initial speed as defined by the WRITE_CMD (MOVE) instruction. If there are no mechanical restraints, enter the maximum speed for the other speeds.

Example in the case of a 2 axis system

Vtg = (Vx² + Vy²)

1/2

Vtg

XA Vx XB

TLX DS 57 PL7 xx

Accessible

Utilities

Functional description

The moving part must move from point A (XA, YA) to point B (XB, YB) at a tangential speed Vtg which projects on X and Y respectively as Vx and Vy.

From the value Vx (the most restricted axis) entered in the WRITE_CMD (MOVE) instruction, the interpolator calculates the Vy and then the Vtg speed.

l l

Channels 17 - 20 enable the following services to be used (See PL7 Interface,

p. 318):

WRITE_CMD,

READ_STS.

TLX DS 57 PL7 xx

Functional description

"Slave Axis Group" Function

At a Glance The "slave axis group" function is performed by channels 21 to 24 of the TSX CSY

84 module. A "slave axis group" is made up of slave axes (up to 6) which follow the movements of a master axis.

There are 2 ways of following a master axis: l in ratio mode: the slave axes follow the master axis according to a ratio that has been defined in configuration, known as the Slave ratio (the slave position is l equal to that of the master: setpoint or current value, multiplied by the ratio), in cam mode: the slave axes follow the master axis according to a cam profile (a points table that gives the position of the slave according the master's position: setpoint or current value).

The master axis may be a real or imaginary axis or an external setpoint. The slave axes are real or imaginary axes.

Note: When axes are configured in the slave groups, it is recommended to associate one group to a given axis.

CAUTION

In a slave group, a master slave axis does not apply the controls defined in the maximum speed and acceleration parameters.

It follows the master speed law without constraint.

An axis member fault must be acknowledged at the level of the group

(CLEAR_FAULT).

Failure to observe this precaution can result in injury or equipment damage.

TLX DS 57 PL7 xx

Ratio Mode

Functional description

The ratio is defined by entering a numerator and a denominator. The ratio mode

(gears) allows switches (current value, setpoint), offsets (Bias), start and slave stop conditions to be managed

MASTER

Setpoint

Measurement

Ratio

N/D SLAVE

Setpoint

Measurement

Stop and Bias

Sequence

These functions allow a movement or an automatic offset to be added to the slave setpoint. This allows the anticipation of a movement with the activation of the sequence or the continuation of a movement after the deactivation of the sequence.

Movement generator

Slave setpoint

Position command of the slave axis

MASTER

Automatic offset

BIAS

P = F + C + B

Accessible

Utilities

TLX DS 57 PL7 xx l l l l l l

Channels 21 to 24 enable the following services to be used (See PL7 Interface,

p. 318:

READ_PARAM,

WRITE_PARAM,

WRITE_CMD (except Move),

SAVE_PARAM,

RESTORE_PARAM,

READ_STS.

Functional description

"Cam Profile" Function

At a Glance

Cam Profile

Diagram

The "cam profile" function is performed by channels 25 to 31 of the TSX CSY 84 module. The cam profiles are used by the slave axis groups to follow the master axis according to a points table known as the cam profile.

A cam profile is a 2 column points table: l a column that defines the position of the master in a slave axis group (usually an imaginary axis), l a column that defines the position of the slave, associated with the master's position.

The interpolation between 2 consecutive points enables the positions not given by the table to be deduced. The interpolation may be linear or cubic.

The positions of the master must be increasing. For example, they must not go from

360 to 0 degrees. This would correspond to decreasing positions.

The diagram representation of a slave axis controlled by a cam profile is as follows:

MASTER

Setpoint

Measurement

Offset

Setpoint

SLAVE 1

Measurement

Cam

TLX DS 57 PL7 xx

Cam

Functional description

The cam can be implemented: l either by an internal table in the axis command module, as defined by the initial l table value and a fixed increment.

or by an external table to the axis command module (contained in the PLC), defined as an address %KF.

Illustration

Slave setpoint

Internal table

1 st

Index value

External table

%KF

Cam

Interpolation If the cam entry corresponds to a value between 2 consecutive points, the slave setpoint is calculated by linear or cubic interpolation (defined at configuration)

Slave position

Linear or cubic

interpolation

Slave

setpoint

Cubic interpolation

Slave

setpoint

Linear interpolation

Cam

Master position

Accessible

Services l l l

Channels 25 to 31 enable the following services to be used (See PL7 Interface,

p. 318) :

WRITE_CMD,

READ_STS,

TRF_RECIPE.

TLX DS 57 PL7 xx

Functional description

TLX DS 57 PL7 xx

Configuration

At a glance

Subject of this chapter

What's in this

Chapter?

This chapter describes the configuration screens of module TSX CSY 84 and some of the different functions it can perform: "SERCOS® functions," "real axis",

"imaginary axis", ...

This Chapter contains the following Maps:

Topic

Presymbolization

Module Configuration

Configuration of the Channels

Configuration of the SERCOS® Function (channel 0)

Configuring an Independent Axis (Channels 1 to 12)

Configuration of a Remote Axis (Channels 13 to 16)

Configuration of a set of coordinated axes (channels 17 à 20)

Configuration of a set of follower axes (channels 21 to 24)

CamProfile configuration (channels 25 to 31)

Page

TLX DS 57 PL7 xx

Configuration

Presymbolization

Reminder

Syntax of symbols

Comment

The Variables editor is used to symbolize the language objects associated with module TSX CSY 84 automatically. The user defines a generic symbol from channel %CHxy.i and all the symbols of the objects associated with this channel are then generated automatically.

The syntax of the symbols which are generated automatically is as follows:

User_prefix_manufacturer_Suffix l User_ prefix : generic symbol given by the user to channel %CHxy.i (a maximum of 12 characters).

l Manufacturer_suffix : part of the symbol corresponding to the object language associated with the channel and given by the system (a maximum of 20 characters)

In addition to the symbol, the system automatically generates a manufacturer’s comment which reminds one succinctly of the role of the object.

TLX DS 57 PL7 xx

Configuration

Module Configuration

Introduction

Adding the module

In Configuration mode, it is possible to define the operating characteristics for each

TSX CSY 84 module path.

This mode is accessible in local mode.

The TSX CSY 84 module occupies two positions in the rack. So that this module is suggested, it is also necessary to select the position to the furthermost right of the two locations, reserved for the reception of the module.

The following dialog box is used to add module TSX CSY 84 to the configuration:

Add a module

Family:

Analog 1.5

Communication1.5

Upcounting 1.5

XBus displacement1.0

Movement

Weighing

1.5

1.7

Third-Party products1.0

Simulation 1.0

Discrete 1.5

Module:

TSX CAY 22

TSX CAY 33

TSX CAY 42

TSX CAY 21

TSX CAY 41

TSX CFY 11

TSX CFY 21

TSX CSY 84

MOD.CDE AXE 2 VOIES

MOD.CDE AXE 3 VOIES

MOD.CDE AXE 4 VOIES

MOD.CDE AXE 2 VOIES

MOD.CDE AXE 4 VOIES

MOD.MOT.PAS A PAS 1 VOIE

MOD.MOT.PAS A PAS 2 VOIES

8 AXIS N4 MOTION.CONT

Cancel

Declaring the module

To do this: l l l select Movement in the Family field, select the reference of the module (TSX CSY 84) in the Module field, confirm with OK.

To indicate that the module is declared in the configuration of the rack, the positions occupied by the module are framed and contain its reference.

L o o p s

TLX DS 57 PL7 xx

Configuration

Deletion of a module

Applicationspecific channels

Access to the module configuration screen

Configuration

Screen l l l

To delete a module from its position: click on the latter to select it, press the <Del> key, a dialog box is then displayed, confirm the deletion of the module.

Application-specific channel encompasses all the channels of an intelligent module

(counting module, axis command module, etc.). The 32 channels of module TSX

CSY 84 are application-specific channels.

The maximum number of application-specific channels, which it is possible to l l l l implant in a configuration, is:

TSX P57 103/153: 8 application-specific channels,

TSX P57 203/2623/253/2823 / TPCX P57 203: 24 application-specific channels,

TSX P57 303/3623/353 / TPCX 57 353: 32 application-specific channels,

TSX P57 453/4823: 64 application-specific channels.

l l

To access the configuration screen of the module, double click on its graphic representation (CSY 84) or: select the module (by clicking on the latter),

Activate the Open Module command from the Services pull-down menu.

The configuration screen of the module is as follows:

TSX CSY 84 [RACK0 POSITION 3]

Configuration

Designation: 8 AXIS N4 MOTION.CONT

Symbol:

Channel:

0 SERCOS

Function:

SERCOS® Bus

Configured channels: 0, 1, 9, 14, 17, 22, 24, 25

Task:

MAST

Description of the configuration screen

Zone

Description

This panel recalls the catalog reference of the module and its geographical address in the PLC (rack number and position in the rack).

This command zone indicates the current mode. Only Configuration mode can be accessed.

This module zone level contains the short title of the module.

This "channel" zone level is used to choose the channel to be configured and recalls the associated function, as well as the task in which the implicit exchange objects are exchanged (always MAST).

This zone recalls the numbers of the configured channels.

TLX DS 57 PL7 xx

Configuration

Configuration of the Channels

Introduction

Configuration check

Configuring a channel involves defining the parameters for the application-specific l l l l l l function associated with this channel:

Channel 0: SERCOS® function

Channels 1 to 12: Independent axis (real or imaginary axis)

Channels 13 to 16: Remote axis

Channels 17 to 20: Coordinated axis group

Channels 21 to 24: Slave axis group

Channels 25 to 31: Cam profile.

While the parameter entries are being validated, a configuration check is performed.

If there is non-coherency (e.g.: Max. Acceleration < Min. Acceleration), an error message displays the type of error. Furthermore, the parameters affected are displayed in red on the screen.

TLX DS 57 PL7 xx

Configuration

Configuration of the SERCOS® Function (channel 0)

Introduction

Configuration

Screen

Channel 0, which controls the SERCOS® bus, is configured by default. The configuration screen is used to input the optical power and recalls the value of the bus parameters.

The configuration screen of the SERCOS® function is as follows:

TSX CSY 84 [RACK0 POSITION 3]

Configuration

Designation: 8 AXIS N4 MOTION.CONT

Symbol:

Channel:

0 SERCOS

Configured channels: 0

Function:

SERCOS Bus

Manufacturer parameters

Cycle time 4000 µ s

Optical power 66 %

Task:

MAST

Description of the parameters

The SERCOS® bus parameters are defined in the Manufacturing parameters zone:

Parameters

Cycle time

Optical power

Description

SERCOS® bus cycle time: 2 or 4 ms. 4 ms by default. The new value will be taken into account after a transition into SERCOS® phase 0

(opening of SERCOS® ring or SetCommandedPhase function) then another transition into phase 4.

Adjustment of the optical power, which is necessary during first segment (included between the TSX CSY 84 module and the first variable speed controller). This power (as a percentage) should be a function of the length of the segment (66% by default).

TLX DS 57 PL7 xx

Configuration

Configuring an Independent Axis (Channels 1 to 12)

Introduction

Configuration

Screen

An individual axis can be either a real axis (channels 1 to 8) or an imaginary axis

(channels 9 to 12). The configuration of a real axis enables control of a physical axis

(which uses a variable speed controller). In this case, a certain consistency must be ensured between the parameters entered in the TSX CSY 84 module configuration screen and those defined during variable speed controller configuration.

An imaginary axis can, for example, act as a master axis in a slave axis group. All of the parameters for this type of axis are defined in the configuration screens for the axis control modules.

The configuration screen for an individual axis is as follows. There are 5 parameter entry zones: Limits, Enable position checking, Units, Scale factor, and

Movement.

TSX CSY 84 [RACK0 POSITION 3]

Configuration

Designation: 8 AXIS N4 MOTION.CONT

Symbol:

Channel:

Real 1

Function:

Real axis

Configured channels: 0, 1, 14, 15, 17, 22, 27

Task:

MAST

Limits

Position checking

Max. Position 3.000000e+002

Min. Position -3.000000e+002

Max. Speed 1.000000e+005

Max. Acceleration 1.000000e+005

Max. Deceleration 1.000000e+004

Ctrl. of the enabled position

Active

Tolerance 0.000000e+000

Units

Type

Position

Speed

Acceleration

Scale factor

Linear mm mm/s mm/s²

Numerator

Denominator

1.000000e+000

Movement

Modulo

Max. modulo

Min. modulo

2.000000e+001

-2.000000e+001

In-position band

Acceleration

Deceleration

7.000000e+000

1.000000e+000

Acceleration type

Trapezoid 125%

TLX DS 57 PL7 xx

Configuration

Limits zone parameters

Description

Parameters Description

Position checking For a limited machine, this checkbox can be used to enable the position limit check. The axis position is compared with the position limits defined during configuration. When the axis reaches one of its limits, its movement is stopped and an error is generated.

For an infinite axis, this box should not be checked.

Max. Position

Min. Position

Maximum position limit. This value is entered as a floating point.

Minimum position limit. This value is entered as a floating point.

Max. speed Maximum permitted speed. This value is independent of the value defined in the variable speed controller (real axis). This value is entered as a floating point. When the maximum speed is configured as 0, speed monitoring is no longer enabled.

Max. Acceleration Maximum permitted acceleration. This value is independent of the value defined in the variable speed controller (real axis). This value is entered as a floating point.

Max. Deceleration Maximum permitted deceleration. This value is independent of the value defined in the variable speed controller (real axis). This value is entered as a floating point.

Enable position checking zone parameters

Description

Parameters

Active

Tolerance

Description

This checkbox can be used to enable position checking.

When the axis is disabled: l If its movement is less than the tolerance, the axis returns to its last position when it is reactivated l If its movement is greater than the tolerance, the axis remains in its new position when it is reactivated.

Value of the monitoring window. This value is entered as a floating point.

TLX DS 57 PL7 xx

Configuration

Parameters of the Units Zone

Description

Parameters

Type

Position

Speed

Acceleration

Description

Type of physical units used to express the position, speed and acceleration readings: Angular, Linear, Linear English or Encoder points.

Position unit.

l l l l

Angular: mrad, rad, deg, arcmin, revs,

Linear: mm, mm, cm, m

Linear English: in, ft, yd, mil

Encoder points: points.

l l l

Speed unit.

l Angular: mrad/s, rad/s, rad/mim, deg/s, deg/min, arcmin/s, revs/s, revs/min

Linear: mm/s, mm/s, mm/min, cm/s, cm/min, m/s, m/min

Linear English: in/s, in/min, ft/s, ft/min, yd/min, mile/s

Encoder points: points/ms, points/s, points/min

Acceleration unit.

l l l l

Angular: mrad/s, rad/s, deg/s, arcmin/s, revs/s, revs/min/s

Linear: mm/s, mm/s, cm/s, m/s, m/min, g’s

Linear English: in/s, ft/s, yd/min, mile/s

Encoder points: points/ms, points/s

Parameters of the Scale Factor

Zone

Description

Parameter

Numerator

Denominator

Description

Scale factor numerator. This value is entered as a floating point.

Scale factor denominator. This value is entered as a floating point.

TLX DS 57 PL7 xx

Configuration

Movement Zone

Parameters

Description

Parameter

Modulo

Description

For an infinite axis, this checkbox can be used to activate the rollover function.

Max. modulo

Min. modulo

Upper modulo limit. This value is entered as a floating point.

Lower modulo limit. This value is entered as a floating point.

In-position band Value of the in-position band. This value is entered as a floating point.

Acceleration Acceleration value defined for a movement. This value is entered as a floating point.

Deceleration Deceleration value defined for a movement. This value is entered as a floating point.

Acceleration type Acceleration type: Rectangle 100%, Trapezoid 125%, Trapezoid 150%,

Trapezoid 175% or Triangle 200%.

Rescaling

Changing the

Unit Type

For drives which have the position defined in angular units: degrees, the module performs a rescaling operation, according to its reference which is measured in revolutions and its speed in revolutions/second.

For example, if the axis is configured as angular with a scale factor of 1/1: l position units in revolutions and speed units in rev/s: an incremental movement of position 1 and speed 1 will execute 1 revolution in 1 second, l position units in degrees and speed units in rev/min: an incremental movement of position 360 and speed 60 will execute 1 revolution in 1 second.

When the type of unit is changed in relation to the drive that remains in revolutions, the reference unit of the module is mm (for linear type) and inches (for linear English type). The transformation achieved by the module is equal to: l l

1 revolution for the drive = 1 mm for the module (linear type),

1 revolution for the drive = 1 inch for the module (linear English type)

For example, if the axis is configured as linear with a scale factor of 1/1: l position units in mm and speed units in mm/s: an incremental movement of position 1 and speed 1 will execute 1 revolution in 1 second, l position units in mm and speed units in mm/s: an incremental movement of position 1000 and speed 1000 will execute 1 revolution in 1 second (or 1000 mm in 1 second).

TLX DS 57 PL7 xx

Configuration

Using the Scale

Factor

Consider an application where the axis moves a belt; for instance 1 axis revolution moves the belt 100 mm. If you wish to express the position in mm: l the position units will be configured in mm, the speed in mm/s, the scale factor numerator will be equal to 100 and the denominator will remain at 1, l an incremental movement of position 1000 and speed 1000 will move the belt 1m

(or 10 axis revolutions) in 1 second (speed 1000 mm/s).

TLX DS 57 PL7 xx

Configuration

Configuration of a Remote Axis (Channels 13 to 16)

Introduction

Configuration

Screen

A remote axis channel can be used to upload an item of external position data to the module. Configuring an external returns to configuring a real axis or an imaginary axis in which only the position data is valid.

The configuration screen of an external is as follows. There are 3 parameter entry zones: Scale factor, Modulo and Units as well as a choice of address field.

TSX CSY 84 [RACK0 POSITION 3]

Configuration

Designation: 8 AXIS N4 MOTION.CONT

Symbol:

Channel:

15 Remote

Function:

Remote axis

Configured channels: 0, 1, 9, 13, 20, 24, 28

Address Virtual

Scale factor

Numerator

Denominator

1.000000e+000

Modulo

Active

Maximum

Minimum

Task:

MAST

0.000000e+000

Units

Position

µ m

Address This field is used to define the origin of position data: l Virtual: the position is written by the application program in the output word

%QDxy.i.0, l 1 to 8: the position is read on the output of the auxiliary position of the real axis defined by the choice of address field (1 to 8).

Parameters of the Scale Factor

Zone

Description

Parameter

Numerator

Denominator

Description

Scale factor numerator. This value is entered as a floating point.

Scale factor denominator. This value is entered as a floating point.

TLX DS 57 PL7 xx

Configuration

Parameters of the Modulo Zone

Description

Parameter

Active

Maximum

Minimum

Description

In the case of an unlimited axis, this check box is used to activate the authorization for crossing the modulo.

Upper modulo limit. This value is entered as a floating point.

Lower modulo limit. This value is entered as a floating point.

Parameters of the Units Zone

Internal unit

Description

Parameters

Position

Description

Position unit: mm, mm, cm, m, in, ft, yd, mil, mrad, rad, deg, arcmin, revs, points.

The internal unit is the mm for the linear type (metric), the inch for the linear English type and the revolution for the angular type.

Choosing a unit in degrees means that for a scale factor of 1/1, an increment of 1 point of the encoder makes the position advance by 360 degrees. For a unit in cm and a scale factor of 1/1, an increment of 1 point of the encoder makes the position advance by 1/10mm.

TLX DS 57 PL7 xx

Configuration

Configuration of a set of coordinated axes (channels 17 à 20)

Introduction

Configuration screen

A coordinated axis group is made up of real axes or imaginary, whose movements are coordinated between themselves. Therefore, the configuration of a coordinated axis group requires the configuration of independent axes which belong to the group beforehand.

The configuration screen of a coordinated axis group is as follows. It is used to define the list of axes which will be coordinated between themselves (a maximum of

8 axes).

TSX CSY 84 [RACK0 POSITION 3]

Configuration

Designation : 8 AXIS N4 MOTION.CONT

Symbol:

Channel :

17 Coordinate

Function :

Coordinated set

Channels configured : 0, 1, 14, 15, 17, 22, 27

Task:

MAST

Axe

Special Function

Active

Function number

Table address %KF

Axis X to Axis E These 8 fields are used to choose the axes which are coordinated between themselves (axes 1 to 12). The value N indicates that the axis does not belong to the coordination. The principal axis of the coordination is the one which is defined in the field Axis X.

Take care : the axes should be configured in order. For example, it is forbidden to have Axis X to N and Axis Y to 1.

The acceleration profile of the coordinated axis group is rectangular by default.

Although each individual axis may have a defined profile, it is nevertheless possible to change the profile of the group using the SetAccelType command.

TLX DS 57 PL7 xx

Parameters of the special

Function zone

Configuration

Description

Parameter

Enable

Function number

Table address of

%KF

Description

This check box is used to confirm the activation of special functions

This field is used to enter the number of the special function to be activated.

This field is used to input the address from the beginning of the table containing the parameters associated with the special function.

TLX DS 57 PL7 xx

Configuration

Configuration of a set of follower axes (channels 21 to 24)

Introduction

Configuration screen

A slave axis group is a collection of axes, composed of slave axes (a minimum of 6) which follow the movements of a master axis.

The master axis may be a real axis, an imaginary axis or an external setpoint. The slave axes are real or imaginary axes.

The configuration screen of a slave axis group is as follows. It offers 7 zones which are used to configure the master axis and the 6 possible slave axes.

TSX CSY 84 [RACK0 POSITION 3]

Configuration

Designation : 8 AXIS N4 MOTION.CONT

Symbol :

Channel :

22 follower

Function :

Follower set

Channels configured : 0, 1, 9, 13, 15, 17, 20 ,24, 28

Master

Slave 1

Actual

Slave 2

Actual

Slave 3

Actual

Slave 4

Gearing Camming

Commanded

Ratio

Start condition

1.000000e+000

Immediatly

Gearing Camming

Commanded

Cam

Start condition

25 Offset

Immediatly

Gearing

Camming Ratio 1.000000e+000

Camming

Start

Ratio

Commanded condition

Immediatly

1.000000e+000

Immediatly Actual

Slave 5

Actual

Gearing Camming

Commanded

Ratio

Start condition

1.000000e+000

Immediatly

Task :

MAST

1.000000e+000

Trigger

Bias remains

0.000000e+000

Follow on halt

Halt master

Trigger

Bias remains

0.000000e+000

Follow on halt

Halt master

Trigger

Bias remains

0.000000e+000

Follow on halt

Halt master

Trigger

Bias remains

0.000000e+000

Follow on halt

Halt master

1.000000e+000

Trigger

Bias remains

0.000000e+000

Follow on halt

Halt master

Master

Slave zones

This field is used to define the number of the master axis (axes 1 to 16). The value

N indicates that the master axis has not been chosen.

The 6 slave zones 1 to 6 are identical. They are only active when the master number is defined.

TLX DS 57 PL7 xx

Configuration

Parameters of a

Slave zone

Description

Parameter

Slave 1 (to 6)

Measurement

Setpoint

Gearing

Cam

Ratio

Start-up

No.

Description

Is used to set the number of the slave axis (axes 1 to 12).

When this button is checked, the slave axis follows the measured position of the master axis. This button operates alternately with the

Setpoint button.

When this button is checked, the slave axis follows the position of the master axis setpoint. This button operates alternately with the

Measurement button.

When the button is checked, the slave axis follows the master axis in the Ratio mode; that is to say following a ration determined by the Ratio field. This button operates alternately with the Cam button.

When this button is checked the slave axis follows the master axis in

Cam mode; that is to say following the cam profile whose number is chosen in field No. This button operates alternately with the Gearing button.

In Ratio mode, these 2 fields are used to input the numerator and the denominator which define the ration between the master axis and the slave. These values are entered as a floating point.

Used to select the start-up condition: l l

Immediately when the master position, increased by the offset value, reaches the value of the defined threshold in the Trigger field, in a positive l direction, when the master position plus the offset value, reaches the value of the defined threshold in the Trigger field, in a positive direction, in a negative direction, l when the master position plus the offset value is more than or equal to the value of the defined threshold in the Trigger field, l when the master position plus the offset value is less than or equal to the value of the defined threshold in the Trigger field,

In Cam mode, this field is used to select the cam profile number

(between 25 and 31 inclusive).

TLX DS 57 PL7 xx

Configuration

Parameter

Offset:

Bias remains

(residual)

Trigger

Follow on halt

Stop master/déf.

Description

In Cam mode, this field is used to input an offset value which will be added to the master position, in order to define the position of the slave.

The resulting position of the slave will be given by the index in the master’s table of the cam profile. This index is equal to the current position of the master + offset. For example, a cam profile defined from

0 to 1000 for the master coordinates. To begin the pursuit of a master position equal to 100000, the offset value should be equal to –

100000.0.

This offset is used, for example, to define a sine and cosine function from the same cam profile. This value is entered as a floating point.

When this box is checked: l a dynamics offset is added automatically to the master position in order to define the position of the slave, l The additional slave movements are not halted when the link with the master is removed.

When the start-up condition is dependent on the position of the master axis in relation to a threshold, this field is used to input the threshold value. This value is entered as a floating point.

Activation will take place when the current position of the master + offset > (or <, >, <) to the value of the threshold (Trigger).

When this box is checked, the confirmation of the link between the master and the slave provokes the halt of a possible additional movement of the slave axis, following a deceleration profile determined automatically.

When this box is checked, the master stops when there is a pursuit discrepancy between the master and the slave.

Position of the slave axis

When an axis is a slave, its position depends solely on that of the master axis which it is following. The configuration parameters of the axis ( position limits, maximal speed, maximal acceleration,…) are ignored. To guarantee the security of the application, configure these parameters (of security) in the variable speed controller.

TLX DS 57 PL7 xx

Scale factor

Configuration

In a group of slave axes, the scale factor is unrelated to the units used for the axes, when these are of the same type (Linear, Angular, …). For example, if the master axe is configured in m and the slave axe in cm (different units but the same Linear type): and if one uses a scale factor of 1/1, this shows that if the master cover 1 mm, the slave will also move 1 mm.

If the units of master and slave are of different types, the units must be converted into the reference unit of the type of unit (mm for the linear type, inch for the linear

English type, rev for the angular type). For example, if the master is configured in m and the slave in revs (units of different types; Linear and Angular) and if one wishes the slave to carry out 1 revolution when the master moves 1 m, it will be necessary to define the scale factor in the following way: l l

1 m = 1000 mm (in reference units of the linear type),

1 rev = 1 rev (in reference units of the angular type), therefore, the scale factor = 1000/1 (when the master does 1000 mm, the slave makes 1 revolution).

TLX DS 57 PL7 xx

Configuration

CamProfile configuration (channels 25 to 31)

Introduction

Configuration

Screen

A CamProfile can be used to define the position of a slave axis according to the position of the master axis using a table of points.

The configuration screen for a CamProfile has 3 zones which can be used to define the table of points for the master and slave.

TSX CSY 84 [RACK0 POSITION 3]

Configuration

Designation : 8 AXIS N4 MOTION.CONT

Symbol:

Channel :

27 Cam profile

Function :

Cam profile

Channels configured : 0, 1, 14, 15, 17, 22, 27

Linear

Cubic

Nb. points

Task :

MAST

Master increment

Unit

µ m

Fixed

Variable

Start value

Increment

Slave increment

Unit

µ m

Fixed

Variable

Table address of%KF 0

0.000000e+000

Table

Parameters

Description

Parameters

Linear

Cubic

Nb points

Description

When this button is selected, interpolation between 2 consecutive

CamProfile points is linear. This button operates alternately with the

Cubic button.

When this button is selected, interpolation between 2 consecutive

CamProfile points is cubic. This button operates alternately with the

Linear button.

This field can be used to enter the number of points used to define the

CamProfile.

TLX DS 57 PL7 xx

Master

Increment zone parameters

Configuration

Description

Parameters

Unit

Fixed

Start value

Increment

Variable

Table address of

%KF

Description

Used to define the unit which is used for the master increment. The unit selected can be a sub-unit of the unit defined for the axes (for example, cm for the axes and mm for the increment).

When this button is selected, the increment between 2 consecutive

CamProfile points is always the same. This button operates alternately with the Variable button.

For a fixed increment, this field can be used to enter the start value for the CamProfile. This value is entered as a floating point value.

For a fixed increment, this field can be used to define the value of the increment. This value is entered as a floating point value.

When this button is selected, the increment between 2 consecutive

CamProfile points is variable. The value of the points is defined by a table of constant words %KF whose length is equal to the number of points.

For a variable increment, this field can be used to enter the start address for the table of points for the master.

Note: A CamProfile is always circular. It is necessary to ensure that the first and last values in the slave table are equal.

In the case of a circular movement, the table completely describes the rollover and an additional point is added (rollover + 1) for which the slave value is the same as the first value in the table.

For example, for a rollover of 360° the values are 0 to 359 and the table is as follows : Table (master, slave): (0, x0); (1, x1); (2, x2); ...; (359, x359); (360, x0)

In the case of a linear movement, and if the last value in the table for the slave is not equal to the first value, additional points are added (for example the last point will be repeated several times with the slave values progressively tending towards the first value in the table).

TLX DS 57 PL7 xx

Configuration

Slave Increment zone parameters

Description

Parameters

Unit

Fixed

Start value

Increment

Variable

Table address of

%KF

Description

Used to define the unit which is used for the slave increment. The unit selected can be a sub-unit of the unit defined for the axes (for example, cm for the axes and mm for the increment).

When this button is selected, the increment between 2 consecutive

CamProfile points is always the same. This button operates alternately with the Variable button.

For a fixed increment, this field can be used to enter the start value for the CamProfile. This value is entered as a floating point value.

For a fixed increment, this field can be used to define the value of the increment. This value is entered as a floating point value.

When this button is selected, the increment between 2 consecutive

CamProfile points is variable. The value of the points is defined by a table of constant words %KF whose length is equal to the number of points.

For a variable increment, this field can be used to enter the start address for the table of points for the slave.

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Programming

Introduction

Subject of this chapter

What's in this

Chapter?

This chapter describes the different functions associated with axis movement.

This Chapter contains the following Sections:

Section

6.1

6.2

6.3

6.4

6.5

Topic

Motion Status Bits

Motion control functions

Move Functions

Functions of actual speed/position

Following Functions

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Programming

6.1 Motion Status Bits

At a glance

Aim of this subchapter

What's in this

Section?

This section describes the motion status bits which can be accessed via implicit exchange (bits %Ixy.i.0 to %Ixy.i.31) or by the GetStatus function.

This Section contains the following Maps:

Topic

Bit RAMPING (%Ixy.i.0)

STEADY Bit (%Ixy.i.1)

STOPPING Bit (%Ixy.i.2)

PROFILE_END Bit (%Ixy.i.3)

IN_POSITION Bit (%Ixy.i.4)

AXIS_HOMING bit (%Ixy.i.5)

AXIS_HOMED bit (%Ixy.i.6)

AXIS_NOT_FOLLOWING bit (%Ixy.i.7)

HOLDING bit (%Ixy.i.8)

RESUMING bit (%Ixy.i.9)

DRIVE_ENABLED bit (%Ixy.i.10)

DRIVE_DIAG bit (%Ixy.i.11)

DRIVE_WARNING bit (%Ixy.i.12)

DRIVE_FAULT bit (%Ixy.i.13)

DRIVE_DISABLED bit (%Ixy.i.14)

AXIS_SUMMARY_FAULT bit (%Ixy.i.15)

AXIS_COMM_OK bit (%Ixy.i.16)

AXIS_IS_LINKED bit (%Ixy.i.17)

AXIS_IN_COMMAND bit (%Ixy.i.18)

AXIS_AT_TARGET bit (%Ixy.i.20)

AXIS_POS_LIMIT bit (%Ixy.i.21)

AXIS_NEG_LIMIT bit (%Ixy.i.22)

AXIS_WARNING bit (%Ixy.i.23)

BIAS_REMAIN Bit (%Ixy.i.24 )

AXIS_MANUAL_MODE BIT (%Ixy.i.25)

DRIVE_REALTIME_BIT1 bit (%Ixy.i.26)

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Topic

DRIVE_REALTIME_BIT2 bit (%Ixy.i.27)

AXIS_HOLD bit (%Ixy.i.28)

AXIS_HALT bit (%Ixy.i.29)

AXIS_FASTSTOP bit (%Ixy.i.30)

AXIS_READY bit (%Ixy.i.31)

CONF_OK Bit (%Ixy.i.32)

Programming

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Programming

Bit RAMPING (%Ixy.i.0)

Description

Applied to Real or Imaginary

Axis Functions

Applied to the

Co-ordinated

Axes Group

Function

This bit (status 1) indicates that the ordered movement profile is either acceleration or deceleration.

Acceleration or deceleration profile type.

The AXIS_IS_LINKED member axes also have their RAMPING bits set to 1.

Applied to a Set of Slave Axes

This bit is set to 1 if one or more RAMPING bits in the member axes are set to 1.

In ratio mode, a member axis RAMPING bit is set to 1 while the ratio of the slave axis is changing to a new value.

Applied to

SERCOS®

Function

This bit is set to 1 if the RAMPING bits in an axis are set to 1.

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Programming

STEADY Bit (%Ixy.i.1)

Description

Applied to Real or Imaginary

Axis Functions

Applied to the

Co-ordinated

Axes Group

Function

Applied to the

Co-ordinated

Slave Axes

Function

Applied to

SERCOS®

Function

This bit (status 1) indicates that the movement profile demands a uniform speed.

Uniform speed profile type.

The AXIS_IS_LINKED member axes also have their STEADY bits set to 1.

This bit is set to 1 if all the STEADY bits in the member axes are set to 1.

the STEADY bit remains clear if the move of a slave is only a copy of that of the master (no additional move).

This bit is set to 1 if all the STEADY bits in the member axes are set to 1.

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101

Programming

STOPPING Bit (%Ixy.i.2)

Description This bit (status 1) indicates that the ordered movement profile is deceleration type with movement stop.

It remains set to 1 until the IN_POSITION (%Ixy.i.4) is set to 1.

The STOPPING bit is set to 0 when the PROFILE_END (%Ixy.i.3) goes to status 1.

Note: The STOPPING bit is not set to status 1 in the case of deceleration due to the resetting of the ALLOW_MOVE or ALLOW_RESUME.

Applied to Real or Imaginary

Axis Functions

Deceleration type movement profile with movement stop.

Applied to the

Co-ordinated

Axes Group

Function

Deceleration type movement profile with movement stop.

The AXIS_IS_LINKED member axes also have their STOPPING bits set to 1.

Applied to the

Co-ordinated

Slave Axes

Function

Applied to

SERCOS®

Function

This bit is set to 1 if one or more STOPPING bits in the member axes are set to 1.

The STOPPING bits do not check if the axis is stabilized, as an axis may be moving in response to a movement by its master.

This bit is set to 1 if the STOPPING bits in an axis are set to 1.

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Programming

PROFILE_END Bit (%Ixy.i.3)

Description

Applied to Real or Imaginary

Axis Functions

Applied to the

Co-ordinated

Axes Group

Function

Applied to the

Co-ordinated

Slave Axes

Function

Applied to

SERCOS®

Function

This bit (status 1) indicates that the movement demanded has ended.

The axis may still be settling until IN_POSITION (%Ixy.i.4) is set to 1 or STOPPING

(%Ixy.i.2) is cleared.

PROFILE_END is set to 1 when the axis is disabled or stop is effected.

The movement profile has issued its last command to the drive. The axis may still be settling.

The Co-ordinatedGroup's movement profile has issued its last command to all the member axis drives.

The AXIS_IS_LINKED member axes also have their PROFILE_END bits set to 1.

The member axes may still be settling.

This bit is set to 1 if all the member axis PROFILE_END bits are set to 1. This does not mean that the member axes are not moving. They may be following the movement of their master axis.

This bit is set to 1 if all the PROFILE_END bits in the axes are set to 1.

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Programming

IN_POSITION Bit (%Ixy.i.4)

Description This bit (status 1) indicates that axis position is in the in-position band and that the

STOPPING (%Ixy.i.2) bit is at 1.

IN_POSITION is set to 0 when the axis is disabled or stop is effected.

Applied to Real

Axis Function

The axis is within the in-position band (STOPPING bit at 1)

IN_POSITION is set as soon as PROFILE_END (%Ixy.i.3) is set to 1.

Applied to

Imaginary Axis

Function

Applied to the

Co-ordinated

Axes Group

Function

All the axes in the in-position band (STOPPING bits at 1) and the different member axes IN_POSITION bits (AXIS_IS_LINKED) are set to 1.

Applied to the

Co-ordinated

Slave Axes

Function l l

This bit is set to 1: if all the member axis IN_POSITION bits are set to 1, the following is disabled.

Note: The member axis IN_POSITION bits are set to 0 when they follow the master, whether it moves or not.

Applied to

SERCOS®

Function

This bit is set to 1 if all the member axes IN_POSITION bits are set to 1.

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Programming

AXIS_HOMING bit (%Ixy.i.5)

Description

Applied to Real

Axis Function

Applied to

Imaginary Axis

Function

This bit (status 1) indicates that the axis is performing a Reference Point (See Home

Function, p. 143) type function.

Reference Point type function.

Not significant

Applied to the

Group of Coordinated Axes,

Group of Slave

Axes or

SERCOS® Ring

Functions

This bit is set to 1 if one or more member axis AXIS_HOMING bits

(AXIS_IS_LINKED) are set to 1.

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Programming

AXIS_HOMED bit (%Ixy.i.6)

Description

Applied to Real

Axis Function

This bit (status 1) indicates that the Reference Point function has been correctly executed.

The axis position reading is referenced from the source.

This bit is not set to 1 in the following cases: l l the reference point function has never been executed or failed to complete, the SERCOS® network breaks down or the drive detects a failure in the position feedback device, l following the Unhome function.

Note: This bit is set to 1 following the ForcedHomed function.

Applied to

Imaginary Axis

Function

Not significant

Applied to the

Group of Coordinated Axes,

Group of Slave

Axes or

SERCOS® Ring

Functions

This bit is set to 1 if one or more member axis AXIS_HOMED bits

(AXIS_IS_LINKED) are set to 1.

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Programming

AXIS_NOT_FOLLOWING bit (%Ixy.i.7)

Description This bit (status 1) indicates that the drive is ignoring the controller's movement profile while it performs a special operation (for example, reference point, FastStop, or

Stop).

Note: This bit is not available on all SERCOS® drives.

Applied to Real

Axis Function

Applied to

Imaginary Axis

Function

Controller inhibited while drive performs a special operation.

The bit is set to 1 if the axis is disabled and it is set to 0 if the axis is enabled.

Applied to the

Group of Coordinated Axes,

Group of Slave

Axes or

SERCOS® Ring

Functions

This bit is set to 1 if one or more member axis AXIS_NOT_FOLLOWING bits are set to 1.

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Programming

HOLDING bit (%Ixy.i.8)

Description

Applied to Real or Imaginary

Axis Functions

Applied to the

Co-ordinated

Axes Group

Function

This bit (status 1) indicates that the axis is either: l l stopped at rest, or decelerating with movement stop.

Axis is stopped or coming to rest.

The axes in the group of co-ordinated axes are stopped or in the process of stopping.

The AXIS_IS_LINKED member axes also have their HOLDING bits set to 1.

Applied to the

Group of Slave

Axes or

SERCOS® Ring

Functions

This bit is set to 1 if one or more member axis HOLDING bits are set to 1.

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Programming

RESUMING bit (%Ixy.i.9)

Description

Applied to Real or Imaginary

Axis Functions

Applied to the

Co-ordinated

Axes Group

Function

This bit (status 1) indicates that the axis resumes after a pause. The axis is accelerating again to achieve the movement profile.

Axis resuming after a pause.

Axis resuming for a group of co-ordinated axes after a pause.

The AXIS_IS_LINKED member axes also have their RESUMING bits set to 1.

Applied to the

Group of Slave

Axes or

SERCOS® Ring

Functions

This bit is set to 1 if one or more member axis RESUMING bits are set to 1.

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Programming

DRIVE_ENABLED bit (%Ixy.i.10)

Description This bit (status 1) indicates that the drive is activated and the associated motor is powered.

Note: If the AXIS_READY (%Ixy.i.31) bit is set to 1, it may be that a movement command is in progress on the axis.

Applied to Real

Axis Function

Applied to

Imaginary Axis

Function

Drive activated, motor powered.

The axis is activated following a CONTROL_ENABLE bit rising edge.

Applied to the

Group of Coordinated Axes,

Group of Slave

Axes or

SERCOS® Ring

Functions

This bit is set to 1 if all the member axis DRIVE_ENABLED bits (AXIS_IS_LINKED) are set to 1.

110

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Programming

DRIVE_DIAG bit (%Ixy.i.11)

Description This bit (status 1) indicates a modification to a class 3 SERCOS® diagnostic bit.

The IDN 0013 variable contains current information.

This bit is set to 0 when reading the IDN 0013 variable.

Note: The class 3 SERCOS® bits are not affected by the SERCOS® standard IDN

0013.

Applied to Real

Axis Function

A class 3 diagnostic bit has changed (information).

Applied to

Imaginary Axis

Function

Not significant

Applied to the

Group of Coordinated Axes,

Group of Slave

Axes or

SERCOS® Ring

Functions

This bit is set to 1 if one or more member axis DRIVE_DIAG bits (AXIS_IS_LINKED) are set to 1.

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111

Programming

DRIVE_WARNING bit (%Ixy.i.12)

Description This bit (status 1) indicates a modification to a class 2 SERCOS® diagnostic bit.

The IDN 0012 variable contains current information.

This bit is set to 0 when reading the IDN 0012 variable.

Applied to Real

Axis Function

A class 2 diagnostic bit has changed (Warning).

Applied to

Imaginary Axis

Function

Not significant

Applied to the

Group of Coordinated Axes,

Group of Slave

Axes or

SERCOS® Ring

Functions

This bit is set to 1 if one or more member axis DRIVE_WARNING bits

(AXIS_IS_LINKED) are set to 1.

112

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Programming

DRIVE_FAULT bit (%Ixy.i.13)

Description

Applied to Real

Axis Function

Applied to

Imaginary Axis

Function

This bit (status 1) indicates a modification to a class 1 SERCOS® diagnostic bit.

l l

The IDN 0011 variable contains current information.

This bit is set to 0: when reading the IDN 0011 variable, from a CONTROL_CLEAR_FAULT rising edge.

A class 1 diagnostic bit has changed (default).

Not significant

Applied to the

Group of Coordinated Axes,

Group of Slave

Axes or

SERCOS® Ring

Functions

This bit is set to 1 if one or more member axis DRIVE_FAULT bits

(AXIS_IS_LINKED) are set to 1.

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113

Programming

DRIVE_DISABLED bit (%Ixy.i.14)

Description

Applied to Real

Axis Function

Applied to

Imaginary Axis

Function

This bit (status 1) indicates that the drive is deactivated and the associated motor is cut off.

Drive deactivated, motor cut off.

Axis is deactivated following the reset of the ALLOW_ENABLE bit.

Applied to the

Group of Coordinated Axes,

Group of Slave

Axes or

SERCOS® Ring

Functions

This bit is set to 1 if all the member axis DRIVE_DISABLED bits (AXIS_IS_LINKED) are set to 1.

114

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Programming

AXIS_SUMMARY_FAULT bit (%Ixy.i.15)

Description This bit (status 1) indicates either: l l l a faulty drive (DRIVE_FAULT), a SERCOS® communication fault (AXIS_COM_OK to 0), a faulty movement profile controller (AXIS_POS_LIMIT or AXIS_NEG_LIMIT).

Information concerning the fault can be accessed with the help of the

GetMotionFault (See

GetMotionFault Function, p. 291) function.

Note: The ALLOW_NOT_FAULT bit at status 0 provokes a user fault.

Applied to Real or Imaginary

Axis Functions

Movement Fault.

Applied to the

Group of Coordinated Axes,

Group of Slave

Axes or

SERCOS® Ring

Functions

This bit is set to 1 if one or more member axis AXIS_SUMMARY_FAULT bits

(AXIS_IS_LINKED) are set to 1.

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Programming

AXIS_COMM_OK bit (%Ixy.i.16)

Description

Applied to Real

Axis Function

Applied to

Imaginary Axis

Function

This bit (status 1) indicates that the drive has successfully powered up and the communications between the movement controller and the drive are active.

Cyclic communication between the movement controller and the SERCOS® drive has been established.

Not significant

Applied to Group of Co-ordinated

Axes or Group of

Slave Axes

Functions

This bit is set to 1 if all the member axis AXIS_COM_OK bits are set to 1.

Applied to

SERCOS®

Function

Meaning of bit at 1 in the different possible cases.

No axis configured

SERCOS® cyclic communication established and possibility of configuring axes.

At least one axis is configured all the AXIS_IS_LINKED member axes also have their AXIS_COMM_OK bits set to 1;

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Programming

AXIS_IS_LINKED bit (%Ixy.i.17)

Description This bit (status 1) indicates that the axis is an active part of an axis group. The axis is responding to commands from a Co-ordinatedGroup or SlaveGroup.

Note: In the set of slave axes, the master is not a member axis.

Applied to Real and Imaginary

Axis Functions

Applied to the

Co-ordinated

Axes Group

Function

Active part of a Co-ordinatedGroup or SlaveGroup.

Non significant bit

When the Co-ordinatedGroup is activated and active, the member axis

AXIS_IS_LINKED bits are set to 1.

The member axes follow the movement profile of the Co-ordinatedGroup.

Note: it is not permitted to act directly on the member axes of the CoordinatedGroup.

Applied to the

Co-ordinated

Slave Axes

Function

This bit is set to 1 if all the slave member axis bits (AXIS_IS_LINKED) are set to 1.

The member axes follow the movement profile of the SlaveGroup master axis as a

FollowerRatio or CamProfile.

Note: Movement commands to the member axes are allowed and are added to the movement resulting from following the master axis.

Applied to

SERCOS®

Function

This bit is set to 1 if one or more axis AXIS_IS_LINKED bits are set to 1.

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Programming

AXIS_IN_COMMAND bit (%Ixy.i.18)

Description

Applied to Real and Imaginary

Axis Functions

Applied to the

Co-ordinated

Axes Group

Function

This bit (status 1) indicates that the axis is active and can receive orders.

Active axis.

This bit is set to 1 when: l the Co-ordinatedGroup is activated, l the member axes (AXIS_IS_LINKED) have not been released from its control.

Member axes do not respond to orders, which are sent to them.

The Co-ordinatedGroup AXIS_IN_COMMAND bit is set to 0 after the

ALLOW_AQUIRE or ALLOW_ENABLE bits have been reset.

Note: Movement commands are given to the Co-ordinatedGroup, not to the member axes.

Applied to the

Co-ordinated

Slave Axes

Function l l

This bit is set to 1 when: the Co-ordinatedGroup is activated, the member axes have not been released from its control.

The member axes also have their AXIS_IN_COMMAND bit set to 1, since the member axes will respond to movement commands directed to them, as well as follow the master axis if following is on. The two movement profiles are summed.

Not significant Applied to

SERCOS®

Function

118

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Programming

AXIS_AT_TARGET bit (%Ixy.i.20)

Description This bit (status 1) indicates that the position of the axis is: l l in the in-position band, has arrived at the end of the movement profile (PROFILE_END at 1).

AXIS_AT_TARGET is cleared when a new movement command is issued.

Note: Unlike IN_POSITION, AXIS_AT_TARGET is not changed when the axis is disabled, nor is it set after a halt is completed unless the halted position reaches the original movement profile's target position.

Applied to Real or Imaginary

Axis Functions

Axis is in the in-position band with the PROFILE_END at 1.

This bit is set to 1 when all the member axis AXIS_AT_TARGET bits

(AXIS_IS_LINKED) are set to 1.

Applied to the

Group of Coordinated Axes or SERCOS®

Ring Functions

Applied to the

Co-ordinated

Slave Axes

Function

This bit is set to 1 if all the member axis AXIS_AT_TARGET bits are set to 1.

Note: The member axis AXIS_AT_TARGET bits are set to 0 when following the master.

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119

Programming

AXIS_POS_LIMIT bit (%Ixy.i.21)

Description This bit (status 1) indicates that the axis has reached or exceeded the upper limit

(max. position).

The validity of this bit requires the DRIVE_ENABLED and AXIS_HOMED bits to be set to 1.

This bit is reset using the CONTROL_CLEAR_FAULT bit rising edge in the current value or the fault to be removed.

Applied to Real and Imaginary

Axis Functions

Position of the commanded axis on or over the upper limit.

Applied to the

Group of Coordinated Axes,

Group of Slave

Axes and

SERCOS® Ring

Functions

This bit is set to 1 if one member axis AXIS_POS_LIMIT bit (AXIS_IS_LINKED) is set to 1.

120

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Programming

AXIS_NEG_LIMIT bit (%Ixy.i.22)

Description This bit (status 1) indicates that the axis has reached or exceeded the lower limit

(min. position).

The validity of this bit requires the DRIVE_ENABLED and AXIS_HOMED bits to be set to 1.

This bit is reset using the CONTROL_CLEAR_FAULT bit rising edge in the current value or the fault to be removed.

Applied to Real and Imaginary

Axis Functions

Position of the commanded axis on or under the lower limit.

Applied to the

Functions of a

Group of Coordinated Axes,

Group of Slaves or SERCOS®

Ring

This bit is set to 1 if one member axis AXIS_NEG_LIMIT bit (AXIS_IS_LINKED) is set to 1.

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Programming

AXIS_WARNING bit (%Ixy.i.23)

Description This bit (status 1) shows the detection of a movement warning (See Faults

Accessible via the GetMotionFault Command, p. 289).

The GetMotionWarning function allows the various types of warning for present movements to be read.

The AXIS_WARNING bit is reset using a CONTROL_CLEAR_FAULT rising edge.

Applied to Real and Imaginary

Axis Functions

Applied to a

Group of Coordinated Axes

Detection of an axis movement warning.

This bit is set to 1 if one member axis AXIS_WARNING bit (AXIS_IS_LINKED) is set to 1.

122

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Programming

BIAS_REMAIN Bit (%Ixy.i.24 )

Description This bit (status 1) indicates that an offset has been added to the command position.

Note: This bit is only concerned with the Real and Imaginary axis functions.

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123

Programming

AXIS_MANUAL_MODE BIT (%Ixy.i.25)

Description This bit is used to check which mode is currently active by reading the value of the l l following discrete input:

%Ixy.i.25 = 0: auto mode (by default),

%Ixy.i.25 = 1: manual mode.

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Programming

DRIVE_REALTIME_BIT1 bit (%Ixy.i.26)

Applied to Real

Axis Function

This bit reflects the status of the drive's "SERCOS® real time" status bit 1.

Applied to

Imaginary Axis

Function

Not significant.

Applied to the

Functions of a

Group of

Coordinated

Axes, Group of

SERCOS® Axes

This bit is set to 1 if one or more member axis DRIVE_REALTIME_BIT1 bits

(AXIS_IS_LINKED) are set to 1.

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Programming

DRIVE_REALTIME_BIT2 bit (%Ixy.i.27)

Applied to Real

Axis Function

This bit reflects the status of the drive's "SERCOS® real time" status bit 2.

Applied to

Imaginary Axis

Function

Not significant.

Applied to the

Functions of a

Group of Coordinated Axes,

Group of Slave

Axes and

SERCOS® Ring

This bit is set to 1 if one or more member axis DRIVE_REALTIME_BIT2 bits

(AXIS_IS_LINKED) are set to 1.

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Programming

AXIS_HOLD bit (%Ixy.i.28)

Description This bit (status 1) indicates that the axis has come to rest following the Hold function.

This bit is set to 0 in the following cases: l one of the bits quoted below is set to 1: l l AXIS_HALT, l AXIS_FAST_STOP, l AXIS_HOMING, l DRIVE_DISABLED, l AXIS_SUMMARY_FAULT.

the axis is inactive with the AXIS_IN_COMMAND bit set to 0.

Axis stopped at rest.

Applied to Real and Imaginary

Axis Functions

Applied to the

Functions of a

Group of Coordinated Axes,

Group of Slave

Axes and

SERCOS® Ring

This bit is set to 1 if all the member axis AXIS_HOLD bits (AXIS_IS_LINKED) are set to 1.

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Programming

AXIS_HALT bit (%Ixy.i.29)

Description This bit (status 1) indicates that the axis has stopped and cannot receive a movement command.

It is set to 1 when the ALLOW_MOVE bit is set to 0.

This bit is set to 0 in the following cases: l one of the bits quoted below is set to 1: l AXIS_FAST_STOP, l l

AXIS_HOMING,

DRIVE_DISABLED, l l AXIS_SUMMARY_FAULT.

the axis is inactive with the AXIS_IN_COMMAND bit set to 0.

Note: The ALLOW_MOVE bit is set to 0 in the MovementControl register.

Applied to Real and Imaginary

Axis Functions

Axis stopped with no possibility of movement commands.

Applied to the

Functions of a

Group of Coordinated Axes,

Group of Slave

Axes and

SERCOS® Ring

This bit is set to 1 if all the member axis AXIS_HALT bits (AXIS_IS_LINKED) are set to 1.

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Programming

AXIS_FASTSTOP bit (%Ixy.i.30)

Description This bit (status 1) indicates that an axis has Fast Stop status. l l l l l

The bit is set to 0: when the axis is disabled (ALLOW_ENABLE), following a fault on the axis, when the axis is re-activated (CONTROL_ENABLE), if one of the DRIVE_DISABLED or AXIS_SUMMARY_FAULT bits is set to 1, if the axis is inactive with the AXIS_IN_COMMAND bit set to 0.

Axis in FastStop status.

Applied to Real and Imaginary

Axis Functions

Applied to the

Functions of a

Group of Coordinated Axes,

Group of Slave

Axes and

SERCOS® Ring

This bit is set to 1 if all the member axis AXIS_FASTSTOP bits (AXIS_IS_LINKED) are set to 1.

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Programming

AXIS_READY bit (%Ixy.i.31)

Description This bit (status 1) indicates that the axis is ready to receive a movement command.

l l l l l l l l

The axis is active with the following bits:

AXIS_IN_COMMAND set to 1,

DRIVE_DISABLED set to 1,

AXIS_HOMING set to 0,

AXIS_HOLD set to 0,

AXIS_HALT set to 0,

AXIS_FAST_STOP set to 0,

AXIS_NOT_FOLLOWING set to 0,

AXIS_SUMMARY_FAULT set to 0,

Applied to Real

Axis, Imaginary

Axis and Group of Co-ordinated

Axes Functions

The axis is ready to receive a movement command.

The set is active and ready to be commanded to follow the master axis.

Applied to a

Group of Slave

Axes

Applied to

SERCOS®

Function

This bit is set to 1 if all the individual axis (Real Axis, Imaginary Axis and External

Setpoint Axis) AXIS_READY bits are set.

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Programming

CONF_OK Bit (%Ixy.i.32)

Description This bit (status 1) indicates that the axis is configured.

Note: This bit is only concerned with the Real and Imaginary axis functions.

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Programming

6.2 Motion control functions

At a glance

Aim of this subchapter

What's in this

Section?

This section describes the motion control functions.

This Section contains the following Maps:

Topic

Movement Control Functions: General

Management of ALLOW and CONTROL bits

MovementControl Bits Modifiable on Edge

Control Bits Modifiable on Change of State

Status Bits and Word

Manual mode

Set_Functional_Mode Function

Home Function

Reference Point with the Home function

ForcedHomed Function

Unhome Function

SetPosition Function

Page

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Programming

Movement Control Functions: General

Movement

Control

Functions

Movement

Control

Commands

Movement control functions allow a MovementSet (Real Axis, Imaginary Axis, l l l l l l l

External Measurement Value Axis, Group of Slave Axes, Network or Group of Coordinated Axes) to perform the following operations:

Reinitialize fault states on a MovementSet (ClearFault),

Activate or deactivate a MovementSet (EnableDrive and DisableDrive),

Stop a MovementSet quickly or normally (FastStop and Halt),

Hold or resume a MovementSet (Hold and resume),

Home a movement axis (Home),

Move the motion axis off the home position: (Unhome),

Release and acquire command control of the individual axis members of a Slave l

Group or Co-ordinated Group (Release and Acquire),

Activate or deactivate following of the master for a group of slave axes (FollowOn and FollowOff), l Acquire command control and activate or release and deactivate slave axes in a slave group (Link and Unlink).

The functions that perform all these actions initiate a movement control command and then return to the application program, possibly before the command has completed.

The application program must monitor the Status of the MovementSet to determine if the command has been completed.

The application program monitors the axis status bit (%I) to check on the movement status.

Many commands are sent via movement control command bits.

Some of the movement control commands require a corresponding ALLOW bit to be configured before the command can be executed successfully.

ALLOW bits are set to 1 by default when the module is initialized (except for the network channel ALLOW_ENABLE bit) so that all corresponding motion control commands are authorized.

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Programming

Management of ALLOW and CONTROL bits

Principle

ALLOW Bits

CONTROL Bits

Special Cases

Example

Movement control bits (see

Implicitly Exchanged Output Variables, p. 332) are

managed in the following way: l set the channel 0 ALLOW_ENABLE bit (%Qxy.i.0.26) to 1 at the start of the program, l use the CONTROL / ALLOW bits to activate / deactivate a function: l a CONTROL bit rising edge with the ALLOW bit at 1 activates the function, l the ALLOW bit at 0 deactivates the function.

ALLOW bits activate a command on the falling edge of the bit (changing from state

1 to state 0). It has a disallowing action while the bit is at state 0. When the ALLOW bit changes from state 0 to state 1, this removes the inhibiting action and allows the associated commands.

Presymbolization of the ALLOW bits begins with ALLOW_ (see Interface language,

p. 317).

NOTE: ALLOW bits are initialized at state 1.

CONTROL bits activate a command on the rising edge of the bit. The command is issued; it will have effect if the MovementSet is in a state, which allows the command to be carried out. You must therefore check the MovementStatus of the

MovementSet before activating a command. CONTROL bits have a corresponding

ALLOW bit. One common reasons for the inability of a CONTROL to activate a command stems from the fact that the ALLOW bit associated to this command or the

SERCOS® channel has the value 0.

CONTROL bit names begin with CONTROL_ (see

Interface language, p. 317).

The pulse period must be greater than the module cycle time (default Cycle_time =

4 ms), so that the command is "seen" by the module.

ENABLE function

CONTROL_ENABLE (%Qxy.i.10)

ALLOW_ENABLE (%Qxy.i.26)

Axis enabled:

DRIVE_ENABLED (%Ixy.i.10)

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Programming

MovementControl Bits Modifiable on Edge

ALLOW Bits The table below lists the ALLOW bits:

Name Language object

%Qxy.i.18

ALLOW_ACQUIRE

%Qxy.i.26

%Qxy.i.27

%Qxy.i.28

%Qxy.i.29

ALLOW_ENABLE

ALLOW_FOLLOW

ALLOW_RESUME

ALLOW_MOVE

Description

Falling edge: frees the controlled axes. The

AXIS_IN_COMMAND MovementStatus bit is set to 0 when the axes are freed.

Inhibit action (status 0): prevents acquisition of controlled axes by this MovementGroup.

Associated CONTROL bit: CONTROL_ACQUIRE

Falling edge: deactivates the controlled axes. The

DRIVE_DISABLED (MovementStatus) bit is set to

1 when the axes are deactivated.

Inhibit action (status 0): prevents activation of the

MovementGroup.

Associated CONTROL bit: CONTROL_ENABLE

Falling edge: inhibits following for a SlaveGroup or a member of such a group. The AXIS_IS_LINKED

(MovementStatus) bit is set to 0 when following is inactive.

Inhibit action (status 0): inhibits following activation.

Associated CONTROL bit: CONTROL_FOLLOW

Falling edge: sends a hold command to the controlled axes. The AXIS_HOLD

MovementStatus bit is set to 1 when the movement profile is paused at zero speed.

Inhibit action (status 0): disallows resuming. Hold state remains whenever axes are activated.

Associated CONTROL bit: CONTROL_RESUME

Falling edge: issues a halt command. The

AXIS_HALT MovementStatus bit is set when the halt process starts.

Inhibit action (0): inhibits movement commands.

Halt state remains whenever axes are activated.

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Programming

Language object

%Qxy.i.30

%Qxy.i.31

Name Description

ALLOW_NOT_

FASTSTOP

Falling edge: sends a FastStop command to the controlled axes. The AXIS_FASTSTOP

MovementStatus bit is set to 1.

Inhibit action (status 0): Inhibits movements and remains in FastStop state when the axes are activated.

Rising edge: cancels FastStop if the axes are supplied. The AXIS_FASTSTOP

MovementStatus bit is set to 0.

ALLOW_NOT_FAULT Falling edge: triggers a user error. The

AXIS_SUMMARY_FAULT MovementStatus bit is set to 1.

Inhibit action (status 0): imposes user error.

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Programming

Control Bits Modifiable on Change of State

CONTROL Bits

TLX DS 57 PL7 xx

The table below lists the CONTROL bits:

Name Description Language object

%Qxy.i.2

%Qxy.i.6

%Qxy.i.7

%Qxy.i.10

%Qxy.i.11

%Qxy.i.12

%Qxy.i.15

%Qxy.i.4

%Qxy.i.5

%Qxy.i.13

CONTROL_ ACQUIRE

REALTIME_CONTROL_

BIT1

REALTIME_CONTROL_

BIT2

CONTROL_ENABLE

CONTROL_FOLLOW

Rising edge: command to acquire controlled axes and link them to the MovementGroup. The

AXIS_IN_COMMAND bit is set if the operation is performed correctly.

Associated ALLOW bit: ALLOW_ACQUIRE

Rising edge: activates the IDN command when configured in the drive.

Rising edge: activates the controlled axes. The

DRIVE_ENABLED bit is set to 1 if the drive is enabled.

Associated ALLOW bit: ALLOW_ENABLE

Rising edge: activates following for the

SlaveGroup or a member of such a group. The

AXIS_IS_LINKED bit is set to 1 when following is active.

Associated ALLOW bit: ALLOW_FOLLOW

CONTROL_RESUME Rising edge: resumes from a hold

(ALLOW_RESUME). The AXIS_HOLD

(MovementStatus) bit is set to 0 when the resume starts.

Associated ALLOW bit: ALLOW_RESUME

CONTROL_CLEAR_

FAULT

Rising edge: clears movement faults

(MovementFault). The AXIS_SUMMARY_FAULT bit is set to 0 if the operation is performed correctly.

CONTROL_JOG_ POS Rising edge: performs continuous movements in positive direction.

Falling edge: stops the movement in progress

CONTROL_JOG_ NEG Rising edge: performs continuous movements in negative direction.

Falling edge: stops the movement in progress

CONTROL_INC_ POS Rising edge: performs incremental movements in positive direction.

137

Programming

Language object

%Qxy.i.14

Name

CONTROL_INC_NEG

Description

Rising edge: performs incremental movements in negative direction.

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Programming

Status Bits and Word

Introduction The status bit (%I) indicates the status of the axis control module (controller) and of the variable speed controller.

The following figure shows a movement profile with various movement conditions indicated.

ACTUAL MOTION resume() issued here hold() issued here

COMMANDED

MOTION

STATES

{ RAMPING RAMPING RAMPING

STEADY

RAMPING

STEADY STEADY

RAMPING

STOPPING

AXIS_READY

HOLDING RESUMING

AXIS_HOLD

IN_POSITION,

AXIS_AT_TARGET

PROFILE_END

AXIS_READY

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Programming

Manual mode

Introduction

Accessing manual mode

This mode allows you to use specific commands to perform, continuous or incremental movements along real or imaginary axes.

Note: This mode is available: l via the program with a TSX CSY 84 module with SV

≥

1.2, l via the debug screen of PL7 of version 4.3 or later.

Manual movements use the speed configured by default (1/2 of Smax). However, it is possible to modify: l the default speed configuration via the debug screen or via the program (see

Speed Parameter: DefaultSpeed, p. 184),

l the movement speed using the Set_Speed_Override function (see GetSpeed-

Override and SetSpeedOverride Function, p. 158),

l the increment value in the chosen position unit via the debug screen.

It is also possible to reference the axis to the origin or to a specific point via the debug screen or via the program (see

Home Function, p. 143 and ForcedHomed

Function, p. 146 and SetPosition Function, p. 148).

l l

The following commands are not available in manual mode: l Movelmmed (See

MoveImmed Function, p. 153) and MoveQueue (See

MoveQueue Function, p. 155),

Pause (%Qxy.i.28) and Resume (%Qxy.i.12),

Follow (%Qxy.i.11) and Enable (%Qxy.i.2).

Manual mode can be accessed from the debug screen or via the program (see

Set_Functional_Mode Function, p. 142).

Note: By default, the axis is in Auto mode after configuration.

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The different commands

Activation conditions

Programming

Four commands can be used to perform different movements.

Name

Jog+

Jog-

Inc+

Inc-

Description used on a rising edge to perform continuous movements in a positive direction

(1).

used on a falling edge to stop the movement in progress.

used on a rising edge to perform continuous movements in a negative direction

(1).

used on a falling edge to stop the movement in progress.

used on a rising edge to perform incremental movements on a referenced axis in a positive direction (1).

used on a rising edge to perform incremental movements on a referenced axis in a negative direction (1).

Legend

(1)

(2)

The movement limit values are: l l the software limits for a referenced axis, the maximum for the theoretical position of the axis for a nonreferenced axis.

Increment given in thousandths of the chosen unit.

The value of the chosen increment must be within the movement limit values for the axis less the tolerance around target position.

l l l l l

The different commands are only activated under the following conditions: the drive must be enabled, manual mode is activated for the specified axis, the axis is stopped, two commands cannot be sent simultaneously, if the axis is referenced and is not within the software limits, the direction of movement must be such that the axis can return within the software limits.

Note: If any one of these conditions is not met a message relating to the missing condition is displayed.

Special Case: if, during the same cycle and for the same axis, the module receives a falling edge on the Jog command in progress and a rising edge on another manual command, only the falling edge is taken into account.

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Programming

Set_Functional_Mode Function

Description The Set_Functional_Mode allows you to access manual mode.

Note: This mode is available for real and imaginary axes.

How to Use this

Function

This function is implemented with the help of the WRITE_CMD instruction (see

WRITE_CMD, p. 324).

Language

Objects

The table below presents the different language objects linked to the

Set_Functional_Mode function.

Object

%MWxy.i.26

%MDxy.i.20

%MWxy.i.19

Name

ACTION_CMD

PARAM_CMD_1 -

ERROR_CMD -

Function code Description

2572 Command

Value to write (1)

Error report. See WRITE_CMD

Command: Programming Errors,

p. 304

Legend

(1) To write the value:

0 to change to manual mode

1 to abort manual mode

Associated discrete input

It is possible to check the mode that is currently active by reading the value of following discrete input:

Object

%Ixy.i.25

Name

AXIS_MANUAL_MODE

Description

0 : Auto Mode (by default)

1 : Manual mode

Note: The value of the input changes after the motor stops if the mode is changed while a movement is being performed.

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Programming

Home Function

Description This function allows a reference point request to be sent to the speed drive.

Note: The type of reference point should be defined beforehand in the drive.

NOTE: The programmable position limits are not active until the reference point of an axis has been completed correctly, or the ForcedHome function is called.

NOTE: The end of travel switches must be connected before the reference point, since the drive may use these inputs to determine when it should reverse its movement.

CAUTION

During a reference point operation, any attempt to interrupt this operation before the end will cause the axis to stop and fault signalling.

It is therefore necessary to acknowledge this fault before the axis can be moved again.

Failure to observe this precaution can result in injury or equipment damage.

Action of the

Function on the

Real Axis

The axis must be enabled and in AXIS_IN_COMMAND status. It must not be moving, holding (Hold) or faulted, and it must have the ALLOW_MOVE Movement-

Control bit set to 1 in order for the command to be successful.

How to Use this

Function

This function is implemented either: l l directly by bit position control (implicit exchanges), for using the WRITE_CMD instruction (see

WRITE_CMD, p. 324).

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Programming

Associated

Language

Objects

Implicit exchanges: The table below presents the different language objects linked to this function.

Object

%Qxy.i.29

%Qxy.i.228

%Qxy.i.30

%Ixy.i.5

Name

ALLOW_MOVE

ALLOW_RESUME

ALLOW_NOT_FASTSTOP

AXIS_HOMED

Effective

Status 1

Description

Allow bit

Status bit

Exchange via WRITE_CMD: The table below presents the different language objects linked to this function.

Object Name Description

%MWxy.i.26

ACTION_CMD

%MFxy.i.31

PARAM_CMD_3

Function code

6034

%MFxy.i.33

PARAM_CMD_4

%MWxy.i.19

ERROR_CMD

Command

Direction of the reference point course: 1.0 (positive) or -1.0

(negative)

Speed of the reference point course in SpeedUnits

Error report. See WRITE_CMD

Command: Programming Errors,

p. 304

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Programming

Reference Point with the Home function

How to Get the

Reference Point with SERCOS®

Drives

The source switch should be connected to the drive input. The ideal position for the source switch is 180 degrees away from the zero pulse of the resolver or the top of the encoder when the movement is in the direction back towards the specified source. Positioning this transition within a band of +/- 45 degrees from the zero pulse of the resolver or encoder top results in a reference point fault (unless the reference point fault is deactivated by the drive's configuration software). The position of the switch can be determined by reading the reference point switch position error parameter, SERCOS® IDN S-0298 or IDN US-0298, if supported by the drive.

The reference point sequence is divided into two steps: l l finding the source switch, moving to the source position.

During either step, a Halt, FastStop or DisableDrive function sent to the motion controller will cause the reference point to be abandoned with an

AXIS_SUMMARY_FAULT and leave the axis in the non-source state. If the Hold function is issued during the first step, the reference point is aborted with an

AXIS_SUMMARY_FAULT, leaving the axis in the non-source state. Hold and

Resume functions are allowed during the second step.

Note: During this step, the drive searches for a reference point switch when moving in the specified source direction. The drive, depending on the drive manufacturer, may reverse direction if it encounters an EOT switch or if it encounters the reference point switch but not in the specified source direction.

(See the reference point description in your SERCOS® drive manual).

In general, this operation involves the following events: l The drive determines which direction to begin moving the axis: l if the Source switch indicates NOT PRESENT, the axis moves in the l specified reference point direction.

If the Source switch is detected, the axis moves in the opposite direction from the specified reference point direction in order to quit the source switch.

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Programming

ForcedHomed Function

Description This function is used to force the reference point of an axis. This function is used as part of the manual homing procedure. The application may move the axis to a known position, send a SetPosition function to attribute a known value to the position reading, and then send the ForcedHome function. The movement controller then makes the software position limits effective, and the AXIS_HOMED bit is set to 1.

How to Use this

Function

This function is implemented with the help of the WRITE_CMD instruction (see

WRITE_CMD, p. 324).

Associated

Language

Objects

Exchange via WRITE_CMD:The table below presents the different language objects linked to this function.

Object Name Description

%MWxy.i.26

ACTION_CMD

%MWxy.i.19

ERROR_CMD

Function code

6039

Command

Error report. See WRITE_CMD

Command: Programming Errors,

p. 304

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Programming

Unhome Function

Description This function cancels the reference point of an axis.

CAUTION: The movement controller's software position limits are not effective if an axis is not referenced. Executing the Unhome function causes the software position limits to be ignored. Use the end of travel (EOT) switches connected directly to the drive to protect the axis machinery from inadvertent motion when the axis is not referenced.

How to Use this

Function

This function is implemented with the help of the WRITE_CMD instruction (See

WRITE_CMD, p. 324).

Associated

Language

Objects

Implicit Exchanges:The table below presents the different language objects linked to this function.

Object

%Ixy.i.6

Name

AXIS_HOMED

Effective

Description

Status bit

Exchange via WRITE_CMD:The table below presents the different language objects linked to this function.

Object Name Description

%MWxy.i.26

ACTION_CMD

%MWxy.i.19

ERROR_CMD

Function code

6038

Command

Error report. See WRITE_CMD

Command: Programming Errors,

p. 304 .

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147

Programming

SetPosition Function

Description The SetPosition function changes the position reading of the axis to the given value.

The position can only be changed if the axis is not moving. The position reading is modified in the axis control module. It does not change the position value on the drive itself. This means that if axis commissioning software tool is monitoring the drive by a direct connection to the drive, the position display will not show the changed position value. However, the positions monitored or commanded by the axis control module will reflect the new parameter.

The Home function clears all previous position settings generated by the SetPosition function.

CAUTION

In the case of a sequence with BIAS_REMAIN, the recognition on the slave of the resulting offset is signalled on the %Ixy.i.24 bit. As long as the bit is at 1, the SET_POSITION command is forbidden.

Failure to observe this precaution can result in injury or equipment damage.

How to Use this

Function

This function is implemented with the help of the WRITE_CMD instruction (see (See

WRITE_CMD, p. 324)).

Associated

Language

Objects

Exchange via WRITE_CMD: The table below presents the different language objects linked to this function.

Object Name Description

%MWxy.i.26

ACTION_CMD

%MFxy.i.31

PARAM_CMD_3

%MWxy.i.19

ERROR_CMD

Function code

2053

Command

Value to write.

Error report. See WRITE_CMD

Command: Programming Errors,

p. 304

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Programming

6.3 Move Functions

At a glance

Aim of this subchapter

What's in this

Section?

This section describes move functions.

This Section contains the following Maps:

Topic

About Movement Functions

MoveType Data Type

MoveImmed Function

MoveQueue Function

GetMoveQueueLength Function

GetSpeedOverride and SetSpeedOverride Function

EnableRealTimeCtrlBit Function

Page

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149

Programming

About Movement Functions

Structure of a

MOVE Function

The basic structure of a movement function is as follows:

<Move function>(<movement type>, <target position>, <speed to target>) where: l Move function is one of:

MoveImmed: aborts any movement profile in progress and moves to the new target position.

MoveQueue: blends a movement profile onto the end of a profile in progress to reach the new target position.

movement type is one of:

ABS_MOVE: Absolute movement (requires the axis to be referenced). .

The target position is taken as an absolute position value referenced from the source position. The movement takes the shortest route (take care if modulos are activated).

ABS_MOVE_POS: Absolute movement in the positive direction for axes with modulos activated or co-ordinated axes.

ABS_MOVE_NEG: Absolute movement in the negative direction for axes with modulos activated or co-ordinated axes.

INCR_MOVE: Incremental move. The target position is taken as an incremental value referenced from the current position (for a MoveImmed) or from the last blended target position (MoveQueue).

l l

CONT_MOVE: Continuous move. The target position indicates the direction of a continuous motion profile that moves to the software limits.

target position is a real number which specifies the target position in the default position units of the axis.

speed to target is a real number which specifies the approach speed in the default velocity units of the axis.

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Functioning

Movement

Status

Programming

The MOVE function initiates movement. The movement function will return to the application before the movement profile is complete. The application program uses the axis status bits (%I) to determine the movement profile status. (See Status Bits

and Word, p. 139).

ABS_MOVE functions that specify a target position that is beyond the maximum or minimum position for the movement axis generate a MovementError since the movement axis cannot reach the target. INCR_MOVE move functions that generate a target beyond the limits do not generate a MovementError since the calculation of the target point may be delayed due to the movement queuing mechanism. Such

INCR_MOVE movements are converted into a target position to reach the limit and will generate an AXIS_SUMMARY_FAULT when the limit is reached. Approach speeds that are greater than the maximum speed limit for a movement axis are converted into approach speeds at the speed limit.

The IN_POSITION and AXIS_AT_TARGET bits are set to 0 at the start of a movement. The RAMPING bit is set when the movement axis is commanded to accelerate or decelerate. The STEADY bit is set to 1 when the movement axis is commanded to move at a constant speed. STOPPING is set to 1 at the start of the deceleration to the target position. IN_POSITION is set to 1 when the actual position and the target position are within the in-position band after STOPPING has been set to 1. PROFILE_END is set to 1 when the controller commands the servo to remain at the target position. AXIS_AT_TARGET is set when the actual position and the target position are within the in-position band after PROFILE_END is set to 1.

STOPPING will be set to 0 when the axis has reached the PROFILE_END and is

IN_POSITION.

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151

Programming

MoveType Data Type

Description The movement of an axis towards a position (movement) can be incremental, l l continuous or absolute:

Incremental: The move occurs relative to the current position.

Continuous: The axis moves towards the maximum or minimum position which is used as a target position for the movement.

l Absolute: The axis moves towards an absolute position.

Value of the Data

Type

The following table lists the various values of the data type:

Move Type

ABS_MOVE

INCR_MOVE

CONT_MOVE

ABS_MOVE_POS

ABS_MOVE_NEG

Value

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Programming

MoveImmed Function

Description This function causes the specified axis to move towards a given position at the specified speed. The movement is immediately applied and overrides any other move currently in progress. The movement in progress and any queued movements are cancelled.

l l

An immediate movement can be:

Incremental: The movement occurs relative to the current position.

Continuous: the axis moves toward the maximum or minimum position. The minimum or maximum position is used as the target position of the Move function.

l Absolute: the absolute movement causes the axis to move to an absolute position.

How to Use this

Function

This function is implemented with the help of the WRITE_CMD instruction (see

WRITE_CMD, p. 324).

Associated

Language

Objects

Exchange via WRITE_CMD:The table below presents the different language objects linked to this function.

Object Name Description

%MWxy.i.26

%MDxy.i.27

%MFxy.i.A (3)

%MFxy.i.C (4)

%MWxy.i.19

ACTION_CMD

PARAM_CMD_1

PARAM_CMD_ B (3)

PARAM_CMD_D (4)

ERROR_CMD

Functio n code

513

Command

Movement Type (1)

Target position of axis N (2)

Approach speed to target of N’ axis (5)

Error report. See

WRITE_CMD Command:

Programming Errors, p. 304

Legend

(1) : INCR_MOVE, ABS_MOVE, ABS_MOVE_POS, ABS_MOVE_NEG or CONT_MOVE

(2) : N= 1 for an independent axis, N includes between 2 and 8 for a group of coordinated axes.

(3) : A = [31+2(N-1)], B = [3+(N-1)]

(4) : C = [31+2(N+N’-1)], D = [3+(N+N’-1)

(5) : N’ = Position of the axis in the group

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Programming

Example of

Parameters for a

Group of Coordinated Axes l l l l l

For a movement with 2 member axes:

PARAM_CMD_1 (%MDxy.i.27) = Movement type

PARAM_CMD_3 (%MFxy.i.31) = Position of axis 1

PARAM_CMD_4 (%MFxy.i.33) = Position of axis 2

PARAM_CMD_5 (%MFxy.i.35) = Approach speed of axis 1

PARAM_CMD_6 (%MFxy.i.37) = Approach speed of axis 2

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Programming

MoveQueue Function

Description This function causes the specified axis to move towards a given position at the specified speed.

This function is appended to any moves currently executing or waiting to execute.

The MoveQueue is blended into the current trajectory without stopping at the end of the previously executed movement command. A maximum of 32 movements can be queued.

All entries in the queue are deleted when a MoveImmed, Halt or FastStop function is executed, or when an AXIS_SUMMARY_FAULT or DRIVE_FAULT occurs.

l l

A MoveQueue function can be:

Incremental: The movement occurs relative to the last queued target position.

Absolute: the absolute movement causes the axis to move to an absolute position.

l Continuous: the axis moves toward the maximum or minimum position. The minimum or maximum position is used as the target position of the movement function.

WARNING

A MoveQueue issued after a continuous move will never be executed.

The continuous movement will fault when a position limit is reached, and the queued moves will be erased.

Failure to observe this precaution can result in severe injury or equipment damage.

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Programming

Associated

Language

Objects

Exchange via WRITE_CMD:The table below presents the different language objects linked to this function.

Object Name Description

%MWxy.i.26

%MDxy.i.27

%MFxy.i.A (3)

%MFxy.i.C (4)

%MWxy.i.19

ACTION_CMD

PARAM_CMD_1

PARAM_CMD_ B (3)

PARAM_CMD_D (4)

ERROR_CMD

Functio n code

520

Command

Movement Type (1)

Target position of axis N (2)

Approach speed to target of N’ axis (5)

Error report. See

WRITE_CMD Command:

Programming Errors, p. 304 .

Legend

(1) : INCR_MOVE, ABS_MOVE, ABS_MOVE_POS, ABS_MOVE_NEG or CONT_MOVE

(2) : N= 1 for an independent axis, N includes between 2 and 8 for a group of coordinated axes.

(3) : A = [31+2(N-1)], B = [3+(N-1)]

(4) : C = [31+2(N+N’-1)], D = [3+(N+N’-1)

(5) : N’ = Position of the axis in the group

Example of

Parameters for a

Group of Coordinated Axes l l l l l

For a movement with 2 member axes:

PARAM_CMD_1 (%MDxy.i.27) = Movement type

PARAM_CMD_3 (%MFxy.i.31) = Position of axis 1

PARAM_CMD_4 (%MFxy.i.33) = Position of axis 2

PARAM_CMD_5 (%MFxy.i.35) = Approach speed of axis 1

PARAM_CMD_6 (%MFxy.i.37) = Approach speed of axis 2

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Programming

GetMoveQueueLength Function

Description The GetMoveQueueLength function returns the number of entries in the queue for the specified axis.

When the number of entries in the queue is greater than 1, the axis moves bumplessly along a continuous path. Entries are placed in the queue using the

MoveQueue function. Entries are removed from the queue as the movement for an axis is planned (current movement and next movement).

If a GetMoveQueueLength is executed immediately after the first entry is placed in the queue by a MoveQueue function, the returned value will be 0. This is because the movement for the axis is planned as soon as the entry is placed in the queue.

The trajectory generator removes it before the GetMoveQueueLength function can be executed. Up to 34 movements can be managed: 32 movements in the queue, the current and next movements present in the trajectory generator.

Note: The GetMoveQueue only returns the number of entries waiting without taking into account either the current or next movements.

How to Use this

Function

This function is implemented with the help of the WRITE_CMD instruction (see

WRITE_CMD, p. 324).

Associated

Language

Objects

Exchange via WRITE_CMD:The table below presents the different language objects linked to this function.

Description Object Name Function code

%MWxy.i.26

ACTION_CMD

%MDxy.i.20

RETURN_CMD_1

9510

%MWxy.i.19

ERROR_CMD -

Command

Result of the command

Error report. See WRITE_CMD

Command: Programming Errors,

p. 304 .

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Programming

GetSpeedOverride and SetSpeedOverride Function

Description The GetSpeedOverride function sends the relevant speed modulation coefficient to an axis.

The SetSpeedOverride function sets the relevant speed modulation coefficient for an axis.

The value is explicitly specified as a percentage.

The coefficient is between 0 and 100.

A modulation coefficient of 0% would render the axis immobile.

A modulation coefficient of 100% would cause the axis to move at the commanded speed.

Note: The coefficient affects the acceleration and deceleration values.

Note: The axis follows the same trajectory whatever the speed modulation coefficient value.

How to Use these

Functions

These functions are implemented with the help of the WRITE_CMD instruction (see

WRITE_CMD, p. 324).

Associated

Language

Objects

Exchange via WRITE_CMD:The table below presents the different language objects linked to these functions.

Description Object

%MWxy.i.26

Name

ACTION_CMD

%MFxy.i.22

%MFxy.i.31

RETURN_CMD_2

PARAM_CMD_3

%MWxy.i.19

ERROR_CMD

Function code

1513

2513

Read command

Write command

Result of the read command

Value to write)

Error report. See WRITE_CMD

Command: Programming Errors,

p. 304

158

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Programming

EnableRealTimeCtrlBit Function

Description This function allows you to enable or disable the RealTime control bits 1 and 2

(%Qxy.i.6 and %Qxy.i.7 respectively).

Enabling the bits causes them to be sent to the drive over the Sercos network.

Note: By default, these bits are inactive.

Refer to the IDN documentation for details of the commands associated with these control bits.

How to Use this

Function

This function is implemented with the help of the WRITE_CMD instruction

WRITE_CMD (See

WRITE_CMD, p. 324).

Associated

Language

Objects

Exchange via WRITE_CMD: The table below presents the different language objects linked to this function.

Object Name Description

%MWxy.i.26

ACTION_CMD

%MDxy.i.27

PARAM_CMD_1

%MWxy.i.19

ERROR_CMD

Function code

2562

Command

1 = Enable

0 = Disable

Error report. See WRITE_CMD

Command: Programming Errors,

p. 304 .

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Programming

6.4 Functions of actual speed/position

Introduction

Aim of this subchapter

What's in this

Section?

This sub-chapter describes the functions of actual speed and position.

This Section contains the following Maps:

Topic

GetActualSpeedFunction

Page

161

GetCommandSpeedFunction 162

GetUnrolledPosition Function

163

GetUnrolledCommandedPosition Function

GetCommandedPosition Function

164

165

160

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Programming

GetActualSpeedFunction

Description

How to Use this

Function

This function is implemented with the help of the WRITE_CMD instruction (see

WRITE_CMD, p. 324).

Associated

Language

Objects

The GetActualSpeed function returns the current movement speed value for the specified axis.

The table below presents the different language objects linked to this function.

Object Name Function code

%MWxy.i.26

ACTION_CMD

%MFxy.i.22

RETURN_CMD_2

5065

%MWxy.i.19

ERROR_CMD -

Description

Command

Result of the command

Error report. See WRITE_CMD

Command: Programming Errors,

p. 304 .

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161

Programming

GetCommandSpeedFunction

Description

How to Use this

Function

This function is implemented with the help of the WRITE_CMD instruction (see

WRITE_CMD, p. 324).

Associated

Language

Objects

The GetCommandSpeed function returns the current value of the speed of the specified axis.

The table below presents the different language objects linked to this function.

Object Name Function code

%MWxy.i.26

ACTION_CMD

%MFxy.i.22

RETURN_CMD_2

5066

%MWxy.i.19

ERROR_CMD -

Description

Command

Result of the command

Error report. See WRITE_CMD

Command: Programming Errors,

p. 304

162

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Programming

GetUnrolledPosition Function

Description The GetUnrolledPosition function returns the axis position without modulo.

Note: The axis does not require the axis modulo to be enabled to use this function.

How to Use this

Function

This function is implemented with the help of the WRITE_CMD instruction (see

WRITE_CMD, p. 324).

Associated

Language

Objects

Exchange via WRITE_CMD:The table below presents the different language objects linked to this function.

Description Object Name Function code

%MWxy.i.26

ACTION_CMD

%MFxy.i.22

RETURN_CMD_2

546

%MWxy.i.19

ERROR_CMD -

Command

Result of the command

Error report. See WRITE_CMD

Command: Programming Errors,

p. 304 .

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163

Programming

GetUnrolledCommandedPosition Function

Description The GetUnrolledCommandedPosition function returns the instantaneous unrolled position setpoint without modulo, which is currently being sent to the drive.

The instantaneous position command changes continually while the axis is moving.

It equals the target position of a movement profile only when the axis has stopped moving and AXIS_AT_TARGET bit is set to 1.

Note: The axis modulo does not need to be activated to use this function.

How to Use this

Function

This function is implemented with the help of the WRITE_CMD instruction (see

WRITE_CMD, p. 324).

Associated

Language

Objects

Exchange via WRITE_CMD:The table below presents the different language objects linked to this function.

Description Object Name Function code

%MWxy.i.26

ACTION_CMD

%MFxy.i.22

RETURN_CMD_2

547

%MWxy.i.19

ERROR_CMD -

Command

Result of the command

Error report. See WRITE_CMD

Command: Programming Errors,

p. 304

164

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Programming

GetCommandedPosition Function

Description The GetCommandedPosition function returns the instantaneous position setpoint presently being sent to the drive.

The instantaneous position command changes continually while the axis is moving.

It equals the target position of a movement profile only when the axis has stopped moving and AXIS_AT_TARGET bit is set to 1.

How to Use this

Function

This function is implemented with the help of the WRITE_CMD instruction (see

WRITE_CMD, p. 324).

Associated

Language

Objects

Exchange via WRITE_CMD:The table below presents the different language objects linked to this function.

Description Object Name Function code

%MWxy.i.26

ACTION_CMD

%MFxy.i.22

RETURN_CMD_2

1053

%MWxy.i.19

ERROR_CMD -

Command

Result of the command

Error report. See WRITE_CMD

Command: Programming Errors,

p. 304 .

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165

Programming

6.5 Following Functions

About Following Functions

Activating the

Following

Function

You can activate the following function by calling the Link (WRITE_CMD) or

FollowOn (implicit exchanges) functions. You can deactivate the following function by calling the UnLink (WRITE_CMD) or FollowOff (implicit exchanges) functions.

Following does not start as soon as it is activated: issuing a command to activate following starts a sequence of events, and following is not considered until all the events are complete. For the slave axis, the AXIS_IS_LINKED bit indicates when following actually starts.

Once following actually begins, the slave axes follow the master. If the master is under the control of the multi-axis movement controller, the application program commands the master axis to move to achieve the desired following motion.

Movement with

Active Following l l

The master may be executing a move when following is activated.

In Ratio mode, the slave axis accelerates to the desired following speed.

In Cam mode, the slave axis rapidly accelerates to achieve the desired speed specified by the CamProfile.

The slave may be executing a move command when following is activated, under the following conditions: l If the FOLL_ON_HALT SlaveMode bit is set, then this movement command in progress is issued a halt command when following is triggered. This cancels the movement, and the resulting slave axis movement is based only on following the l master axis.

If the FOLL_ON_HALT SlaveMode bit not set to 1, this movement command in progress is not stopped. The resulting slave axis movement is the sum of the movement from following the master plus the movement from the movement command in progress.

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Programming

Movement with

Inactive

Following

Activating

Following in

Ratio and Cam

Modes

Note

The master may be executing a move when following is deactivated. l In Ratio mode, the slave ratio is decelerated to 0 using the configured l deceleration. This stops the movement of the slave axis based on following the master axis.

In Cam mode, the slave axis will immediately stop following the master without any deceleration.

The slave may be executing a move (in addition to following the master) when following is deactivated, under the following conditions: l If the FOLL_BIAS_REMAINS SlaveMode bit is set to 0, the movement profile in progress is issued with a stop command. The slave axis reaches zero speed at l the end of any deceleration of the movement from following the master and when the movement command in progress is stopped. Following is then deactivated and the AXIS_IS_LINKED MovementStatus bit is set to 0.

If the FOLL_BIAS_REMAINS SlaveMode bit is set, this move command in progress is not stopped. The movement of following the master is therefore zero, and the AXIS_IS_LINKED bit is set to 0. The slave axis continues to move

according to the movement command in progress. The AbsoluteSlaveBias remains in effect until the slave axis receives a stop or disable command

(%Ixy.i.24 = 1). This means that any ABS_MOVE command will be offset by the value of the AbsoluteSlaveBias.

In order to command an absolute movement to a slave axis while the

AbsoluteSlaveBias remains, you must subtract the AbsoluteSlaveBias from the commanded position: commanded position = desired position - AbsoluteSlaveBias

Once the slave axis completes a halt or disable command, the

AbsoluteSlaveBias is automatically reset, and normal position commands may be sent.

In each of these modes, activating following causes the movement controller to calculate a new value for the SlaveBias. This new value is chosen to prevent the slave axis from moving, given the current master position and the SlaveRatio (for

Ratio mode) or CamProfile (for Cam mode). You may adjust SlaveBias to any desired value after following is activated or by issuing an incremental movement command to the slave axis.

In Ratio mode, the SlaveBias value changes with the SlaveRatio. Monitor the

SlaveBias after the RAMPING bit of the slave axis is reset.

Note: SlaveBias: Position delta between master and slave.

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Programming

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Introduction

Aim of this chapter

What's in this

Chapter?

This chapter describes the principle for adjusting the SERCOS® application-specific parameters.

This Chapter contains the following Sections:

Section

7.1

7.2

7.3

7.4

7.5

7.6

Topic

SERCOS® Module Adjustment: General

Adjustment of the Parameters of a Real, Imaginary or Remote

Axis

Page

170

174

Parameters of a Group of Slave Axes

Cam Profile Adjustment

Sercos® ring parameters

SERCOS® IDN Read/Write Functions

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7.1 SERCOS® Module Adjustment: General

Introduction

Aim of this subchapter

What's in this

Section?

This sub-chapter introduces the adjustment screens of the SERCOS® module and gives a reminder of some general principles of explicit exchange.

This Section contains the following Maps:

Topic

Description of the Adjustment Screens of SERCOS® Module: General

Adjustment Principles

Page

171

173

170

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adjustment

Description of the Adjustment Screens of SERCOS® Module: General

Introduction The adjustment screen displays the SERCOS® channel's adjustment parameters.

These parameters can be modified in online or local mode.

It also gives access to the configuration and debug screens.

The structure of the adjustment screen is very like that of the configuration screen.

Note: For an introduction to the processes of configuring, adjusting and debugging an application, consult the section on Common application functions.

Illustration The diagram below shows an example of a SERCOS® module adjustment screen.

TSX CSY 84 [RACK0 POSITION 10]

Adjust

Designation: 8 AXIS N4 MOTION.CONT

Symbol:

Channel:

1 Real

Configured channels: 0, 1

Function:

Real axis

Limits

Position checking

Max. Position 5.000000e+006

Min. Position -5.000000e+002

Max. Speed 5.000000e+005

Max. Acceleration 5.000000e+004

Max. Deceleration 5.000000e+002

Ctrl. of the enable position

Active

Tolerance 0.000000e+000

Units

Type

Position

Speed

Acceleration

Scale factor

Numerator

Denominator

Linear

µ m

µ m/s

µ m/s²

Task:

MAST

1.000000e+000

Movement

Modulo

Max. modulo

Min. modulo

0.000000e+000

In-position band 7.000000e+000

Acceleration

Deceleration

1.000000e+002

1.000000e+001

Acceleration type

Rectangle 100 %

Transfer the variable speed controller parameters

Direction of transfer

PLC -> variable speed controller

Variable speed controller -> PLC

Transfer

Parameters

Transfer the variable speed controller parameters to the PLC memory:

Address table %MW 100

Length 200

Results

Error transfer: 22

Length of the table read : 00

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171

adjustment

Description The table below shows the different elements of the adjustment screen and their functions.

Address Element

1 Title bar

Fonction

Recalls the reference of the module selected and its physical position in the rack.

Command zone

Indicates the screen in progress (Adjustment) and lets you go or return to other screens: l l

Configuration

Debug (or diagnostic), accessible only in online mode.

Module zone Displays the designation of the module selected.

Displays LED status for RUN, ERR, I/O

Creates direct access to the module diagnostics when it is faulty (indicated by the LED built into the access button on the diagnostic DIAG, which turns red).

Channel zone Enables you to choose the channel to be controlled,

Indicates the task in which the channel is configured,

Provides direct access to the diagnostics of the channel when it is faulty

Adjustment zone

This zone is made up of different specific categories according to the type of channel.

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Adjustment Principles

Introduction The adjustment function is used to view and modify the operating parameters of the l l module.

the adjustment of the TSX CSY 84 module parameters is done either: directly using the adjustment screens (offline or online), or using explicit exchanges (See

PL7 Interface, p. 318) between the application

and the axis command module (online).

Note: When the parameters are changed using the Set... adjustment function

(WRITE_CMD instruction), the module does not guarantee consistency with the values contained in the internal words %MW.

Channels

Enabling Explicit

Exchanges l l l

Explicit commands are used to exchange parameters with: channel 0 (Network), channels 1 to 16 (independent axes), channels 21 to 24 (groups of slave axes).

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adjustment

7.2 Adjustment of the Parameters of a Real, Imaginary or Remote Axis

Introduction

Aim of this subchapter

What's in this

Section?

This sub-chapter introduces the adjustment screens of a real, imaginary or remote axis as well as the different accessible parameters.

This Section contains the following Maps:

Topic

Description of the Adjustment Screen of a SERCOS® Module: Real or imaginary axes

Description of the Adjustment Screen of a SERCOS® Module: Remote Axes

Description of the TRF_RECIPE Screen for Real Axes

TRF_RECIPE

TRF_RECIPE Examples

Speed Parameter: DefaultSpeed

Speed Parameter: SpeedLimit

About acceleration/deceleration parameters

Acceleration/Deceleration Parameter: Accel

Acceleration/Deceleration Parameter: Decel

Acceleration/Deceleration Parameter: AccelMax

Acceleration/Deceleration Parameter: DecelMax

Acceleration/Deceleration Parameter: AccelType

AccelerationType Data type

Resolution Parameters: GearRatio

Position Limit and Modulo Parameter: PositionLimit

About the Modulo

Position Limit and Modulo Parameter: RolloverLimit

Position Limit and Modulo Parameter: EnableRollover

About the In-Position Band

Position Limit Parameter: InPositionBand

About Enable Mode

Position Limit Parameter: EnableMode

Page

174

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adjustment

Description of the Adjustment Screen of a SERCOS® Module: Real or imaginary axes

Introduction This screen is used to directly modify the configuration parameters of a real or imaginary axis in online mode.

Note: For more information on the common parts of the different adjustment screens, please see Description of the Adjustment Screens of SERCOS® Module:

General, p. 171.

Illustration The diagram below shows the adjustment zone of a SERCOS® channel configured in a real or imaginary axis.

Limits

Position checking

Max. Position 5.000000e+006

Min. Position -5.000000e+002

Max. Speed 5.000000e+005

Max. Acceleration 5.000000e+004

Max. Deceleration 5.000000e+002

Ctrl. of the enabled position

Active

Tolerance 0.000000e+000

Units

Type

Position

Speed

Acceleration

Scale factor

Linear

µ m

µ m/s

µ m/s²

Numerator

Denominator

1.000000e+000

Movement

Modulo

Max. modulo

Min. modulo

0.000000e+000

In-position band

Acceleration

Deceleration

7.000000e+000

1.000000e+002

1.000000e+001

Acceleration type

Rectangle 100 %

Description The table below shows the Limit of the adjustment zone.

Element

Position checking

Max. Position

Min. Position

Max. speed

Max. Acceleration

Min. Acceleration

Associated parameter

Bit/ word language associated

Symbol/description

%MWxy.i.35:X4 This check box is used to activate the control of position limits.

PositionLimits %MWxy.i.55

%MWxy.i.57

SpeedLimit

AccelMax

DecelMax

%MWxy.i.53

%MWxy.i.49

%MWxy.i.

POSITION_MAX

POSITION_MIN

SPEED_MAX

ACCEL_MAX

DECEL_MAX

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adjustment

The table below shows the Ctrl of the validation position of the adjustment zone.

Element

Active

Tolerance

Associated parameter

Bit/ word language associated

Description

%MWxy.i.35:X1

%MWxy.i.43

This checkbox can be used to enable position checking.

Value of the monitoring window (cannot be modified)

The table below shows the Units of the adjustment zone. This information cannot be modified.

Element Symbol

Type

Position

Speed

Acceleration

Associated parameter

PositionUnits

VelocityUnits

AccelUnits

Language word associated

%KWxy.i.34

%MWxy.i.65

%MWxy.i.64

%MWxy.i.63

The table below shows the Scale factor of the adjustment zone.

Element Symbol

Numerator

Denominator

Associated parameter

GearRatio

Language word associated

%MWxy.i.59

%MWxy.i.61

SCALE_NUMERATOR

SCALE_DENOMINATOR

The table below shows the Movement of the adjustment zone.

Element Symbol

Modulo

Max. modulo

Min. modulo

In-position band

Acceleration

Deceleration

Acceleration type

Associated parameter

Bit/ word language associated

EnableRollover %MWxy.i.35:X0

RolloverLimit %MWxy.i.45

%MWxy.i.47

InPositionBand %MFxy.i.41

Accel

Decel

AccelType

%MWxy.i.36

%MWxy.i.38

%MWxy.i.40

ENABLE_ROLLOVER

ROLLOVER_MAX

ROLLOVER_MIN

IN_POSITION_BAND

ACCEL

DECEL

ACCEL_TYPE

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Description of the Adjustment Screen of a SERCOS® Module: Remote Axes

Introduction This screen is used to directly modify the configuration parameters of a remote axis in online mode.

Note: For more information on the common parts of the different adjustment screens, please see Description of the Adjustment Screens of SERCOS®

Module: General, p. 171.

Illustration The diagram below shows the adjustment zone of a SERCOS® channel configured in a remote axis.

Address

Scale factor

Numerator

Denominator

1.000000e.000

Modulo

Active

Maximum

Minimum

1.000000e.002

1.000000e.000

Units

Position

Description The table below shows the Scale factor of the adjustment zone.

Element

Numerator

Denominator

Associated parameter

FollowerRatio

Bit/ word language associated

Symbol/description

%MFxy.i.Y (2) NUMERATOR_X (1)

DENOMINATOR_X (1)

Legend

(1) : X included between 1 and 8

(2) : Value of Y, See

Slave Group Parameter: FollowerRatio, p. 219 .

The table below shows the Modulo of the adjustment zone.

Element

Active

Maximum

Minimum

Associated parameter

EnableRollover

RolloverLimit

Bit/ word language associated

Symbol/description

%MWxy.i.35:X0

%MWxy.i.45

%MWxy.i.47

ENABLE_ROLLOVER

ROLLOVER_MAX

ROLLOVER_MIN

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adjustment

The table below shows the Units of the adjustment zone. This information cannot be modified.

Element Symbol

Position

Associated parameter

PositionUnits

Language word associated

%MWxy.i.65

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Description of the TRF_RECIPE Screen for Real Axes

Introduction This screen, situated at the bottom of the adjustment screen of a real axis is used to transfer adjustment parameters between the PLC at the variable speed controller

This functionality has to be in online mode.

Note: For more information on the common parts of the different adjustment screens, please see Description of the Adjustment Screens of SERCOS® Module:

General, p. 171.

Illustration The diagram below shows the screen associated with the TRF_RECIPE function.

Transfer the variable speed controller parameters

Direction of transfer

PLC -> variable speed controller

Variable speed controller -> PLC

Parameters

Transfer the variable speed controller parameters to the PLC memory:

Address table %MW 100

Length 200

Transfer

Results

Error transfer: 22

Length of the table read: 00

Description

TLX DS 57 PL7 xx

The table below shows the Direction of transfer of the TRF_RECIPE zone.

Symbol Element Language word associated

PLC -> variable speed controller %MWxy.i.10

Variable speed controller ->PLC

ACTION_TRF

The table below shows the Parameters of the TRF_RECIPE zone.

Element

Address table

Language word associated

%MDxy.i.11

Description l l

Two parameters may be modified: the type of object memory for storing data:

%MW in read write

%KW in read only

179

adjustment

Element

Length

Language word associated

Immediate value

Description

Address of the beginning of the table

Table length

The table below shows the Result of the TRF_RECIPE zone.

Element Symbol

Error transfer

Language word associated

%MWxy.i.3

Length of the table read

%MDxy.i.4

This field provides the error code (See

TRF_RECIPE Command Explicit Writing

Faults, p. 310 ) in the case of an invalid

transfer.

Real length of the table

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TLX DS 57 PL7 xx

adjustment

TRF_RECIPE

Reminder This service is used to read or write variable speed controller parameters with the

"real axis" function.

Note: This service is used both to read and to write cam profiles and to begin the execution of special functions (see information about these functions).

Syntax of

TRF_RECIPE instruction

TRF_RECIPE

Interface

TRF_RECIPE %CHxy.i (length, address %MW): transfers from the variable speed controller parameters, from the cam profile, or from the parameters of a special function into/from the table which begins with the address %MW. The length of this table to be transferred is defined by the length parameter. The action to be executed is defined by the %MWxy.i.10 (ACTION_TRF) word.

Example: TRF_RECIPE %CH104.3(10,100) (write variable speed controller parameters of real axis 3, of the module situated in position 4 of rack 1, in length table 10, which begins with the address %MW100).

The command to be carried out is defined in the word %MWxy.i.10 and the result of the command is available in the %MWxy.i.3 to %MWxy.i.8 word.

Address

%MWxy.i.3

%MDxy.i.4

%MFxy.i.6

%MFxy.i.8

%MWxy.i.10

%MDxy.i.11

%MDxy.i.13

%MFxy.i.15

%MFxy.i.17

Type

Word

Symbol

ERROR_TRF

Meaning

Write error of the TRF_RECIPE command

Double word RETURN_TRF_1 Return 1 of the function

Floating point

RETURN_TRF_2 Return 2 of the function

Floating point

RETURN_TRF_3 Return 3 of the function

Word ACTION_TRF

Double word PARAM_TRF_1

Double word PARAM_TRF_2

Floating point

PARAM_TRF_3

Floating point

PARAM_TRF_4

Action to be carried out

Parameter 1

Parameter 2

Parameter 3

Parameter 4

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adjustment

Actions Carried

Out by

TRF_RECIPE

The actions that can be carried out using the TRF_RECIPE utility are:

Function Meaning

Real axis (1)

ACTION_TRF

(%MWxy.i.10)

16001

Real axis (1) 26001

Write variable speed controller parameters to the

PLC memory.

Unwrite variable speed controller parameters from the PLC memory.

Legend

(1) PARAM_TRF_1 to PARAM_TRF_4 = 0

Exchanges Description

1 Write parameters in the saved memory (real Axis, WRITE_CMD)

2 Unwrite parameters from the saved memory (real Axis, WRITE_CMD)

3 Write parameters into the PLC memory (real Axis, ACTION_TRF = 16001)

4 Unwrite parameters from the PLC memory (real Axis, ACTION_TRF = 26001)

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TRF_RECIPE Examples

Example 1:

Saving the variable controller parameters

Transferring the variable speed controller parameters from real axis 3 of the module situated at position 4 of rack 1, into the internal words %MW100 to %MW1100, in order to save them. The length of the table being 1000 words.

(*If no exchange of parameters is in progress, then transfer the parameters table into the PLC*)

%MW104.3.10 := 16001;

TRF_RECIPE %CH104.3(1000, 100);

END_IF;

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Speed Parameter: DefaultSpeed

Description This parameter is used to define a default value for the movement speed of the axis given in SpeedUnits. Move with a speed equal to 0.

Note: By default, the system applies a default value equal to one half of the value of the SpeedLimit value.

Associated

Functions

Associated

Language

Objects

The associated functions of this parameter are: l l

GetDefaultSpeed which sends a read request for the actual default value,

SetDefaultSpeed which sends a write request for the new default value.

These functions use the WRITE_CMD instruction.

The table below presents the different language objects linked to the DefaultSpeed parameter.

Object

%MWxy.i.26

%MFxy.i.22

%MFxy.i.31

%MWxy.i.19

Name

ACTION_CMD

RETURN_CMD_2 -

PARAM_CMD_3 -

ERROR_CMD -

Function code

1065

2065

Description

Read command

Write command

Result of the read.

Value to write.

Error report. See ( WRITE_CMD

Command: Programming Errors,

p. 304 )

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Speed Parameter: SpeedLimit

Description The parameter is used to define the maximum speed of an axis given in SpeedUnits.

This limit applies to the speed sent to the variable speed controller by the axis control module.

The maximum speed must be greater than or equal to the actual speed.

Note: The variable speed controller has its own speed limit.

Associated

Functions

Language

Objects

Object

%MFxy.i.53

The associated functions of this parameter are: l l

GetSpeedLimit which sends a read request for the actual maximum speed,

SetSpeedLimit which sends a write request for the new maximum speed.

These functions use, according to the language objects, the WRITE_CMD,

READ_PARAM or WRITE_PARAM instructions.

Name

The table below presents the different language objects linked to the SpeedLimit parameter.

Instruction type Description

SPEED_MAX

Function code

READ_PARAM

WRITE_PARAM

Read command

Write command

%MWxy.i.26

%MFxy.i.22

%MFxy.i.31

%MWxy.i.19

ACTION_CMD

RETURN_CMD_2 -

PARAM_CMD_3 -

ERROR_CMD

1066

2066

WRITE_CMD

Read command

Write command

Result of the read.

Value to write.

Error report. See ( WRITE_CMD

Command: Programming Errors, p. 304 )

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About acceleration/deceleration parameters

Definition

Movement

Planning

Maximum acceleration

Acceleration is used to increase the speed of an axis along a movement profile.

Acceleration values are limited to the value of the maximum acceleration.

Deceleration is used to reduce the speed of an axis along a movement profile.

Deceleration values are limited to the maximum deceleration value.

The acceleration/deceleration ramp is applied to movement commands for that axis.

The trajectory generator uses this acceleration/deceleration to calculate the commands sent to the controlled drive. The controlled drive has independent acceleration/deceleration parameters. For homing, the drive uses the SERCOS® standard homing acceleration/deceleration parameter (identification number - IDN

S-0-0042). For emergency stops, the drive may use a special deceleration value.

(See your drive's Proprietary (P) IDN list.)

The servo drive's maximum acceleration/deceleration limit (SERCOS® Standard

IDN S-0-0138 Bipolar Acceleration Limit or IDN S-0-0136 Positive Acceleration

Limit) must be greater than the movement controller's AccelMax and DecelMax parameters.

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Acceleration/Deceleration Parameter: Accel

Description This parameter is used to set the acceleration ramp to be applied to movement commands on an axis.

The value of this acceleration is specified using AccelerationUnits.

Associated

Functions

Language

Objects

Object

%MFxy.i.36

The associated functions of this parameter are: l GetAccel which sends a read request for the actual acceleration ramp value of the designated axis, l SetAccel which sends a write request for the new acceleration ramp value of the designated axis.

These functions use, according to the language objects, the WRITE_CMD,

READ_PARAM or WRITE_PARAM instructions.

Name

The table below presents the different language objects linked to the Accel parameter.

Instruction type Description

ACCEL

Function code

READ_PARAM

WRITE_PARAM

Read command

Write command

%MWxy.i.26

%MFxy.i.22

%MFxy.i.31

%MWxy.i.19

ACTION_CMD

RETURN_CMD_2 -

PARAM_CMD_3 -

ERROR_CMD

1041

2041

WRITE_CMD

Read command

Write command

Result of the read.

Value to write.

Error report. See ( WRITE_CMD

Command: Programming Errors, p. 304 )

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Acceleration/Deceleration Parameter: Decel

Description This parameter is used to set the deceleration ramp to be applied to movement commands on an axis.

The value of this deceleration is specified using AccelerationUnits.

Associated

Functions

Language

Objects

Object

%MFxy.i.38

The associated functions of this parameter are: l GetDecel which sends a read request for the actual deceleration ramp value of the designated axis, l SetDecel which sends a write request for the new deceleration ramp value of the designated axis.

These functions use, according to the language objects, the WRITE_CMD,

READ_PARAM, or WRITE_PARAM instructions.

Name

The table below presents the different language objects linked to the AccMax parameter.

Instruction type Description

DECEL

Function code

READ_PARAM

WRITE_PARAM

Read command

Write command

%MWxy.i.26

%MFxy.i.22

%MFxy.i.31

%MWxy.i.19

ACTION_CMD

RETURN_CMD_2 -

PARAM_CMD_3 -

ERROR_CMD

1042

2042

WRITE_CMD

Read command

Write command

Result of the read.

Value to write.

Error report. See ( WRITE_CMD

Command: Programming Errors, p. 304

)

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Acceleration/Deceleration Parameter: AccelMax

Description This parameter is used to define the maximum acceleration applied to an axis.

The value of this acceleration is specified as AccelerationUnits.

Note: The maximum acceleration must be greater than or equal to the actual acceleration parameter.

Note: The servo drive's maximum acceleration limit (SERCOS Standard IDN S-0-

0138 - Bipolar Acceleration Limit or IDN S-0-0136 Positive Acceleration Limit) must be greater than the movement controller's AccelMax parameter.

Associated

Functions

Language

Objects

Object

%MFxy.i.49

The associated functions of this parameter are: l GetAccelMax which sends a read request for the actual maximum acceleration value, l SetAccelMax which sends a write request for the new maximum acceleration value.

These functions use, according to the language objects, the WRITE_CMD,

READ_PARAM or WRITE_PARAM instructions.

Name

The table below presents the different language objects linked to the AccelMax parameter.

Instruction type Description

ACCEL_MAX

Function code

READ_PARAM

WRITE_PARAM

Read command

Write command

%MWxy.i.26

%MFxy.i.22

%MFxy.i.31

%MWxy.i.19

ACTION_CMD

RETURN_CMD_2 -

PARAM_CMD_3 -

ERROR_CMD

1116

2116

WRITE_CMD

Read command

Write command

Result of the read.

Value to write.

Error report. See ( WRITE_CMD

Command: Programming Errors, p. 304 )

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Acceleration/Deceleration Parameter: DecelMax

Description This parameter is used to define the maximum deceleration applied to an axis.

The value of this deceleration is specified as AccelerationUnits.

Note: The maximum deceleration must be greater than or equal to the actual deceleration parameter.

Associated

Functions

Language

Objects

Object

%MFxy.i.51

The associated functions of this parameter are: l GetDecelMax which sends a read request for the actual maximum acceleration value, l SetDecelMax which sends a write request for the new maximum acceleration value.

These functions use, according to the language objects, the WRITE_CMD,

READ_PARAM or WRITE_PARAM instructions.

Name

The table below presents the different language objects linked to the DecelMax parameter.

Instruction type Description

DECEL_MAX

Function code

READ_PARAM

WRITE_PARAM

Read command

Write command

%MWxy.i.26

%MFxy.i.22

%MFxy.i.31

%MWxy.i.19

ACTION_CMD

RETURN_CMD_2 -

PARAM_CMD_3 -

ERROR_CMD

1117

2117

WRITE_CMD

Read command

Write command

Result of the read.

Value to write.

Error report. See ( WRITE_CMD

Command: Programming Errors, p. 304

)

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Acceleration/Deceleration Parameter: AccelType

Description This function is used to define the acceleration type for the axis.

The acceleration type specifies the shape of the acceleration profile used when changing velocities on an axis. The movement controller provides three major types of acceleration profile: l Rectangular: this acceleration profile changes the velocity in the shortest amount of time. However, it also causes the largest amount of jerks to the axis.

l Triangular: this acceleration profile takes the longest period of time to change the velocity (twice as slow as the rectangular acceleration profile). However, it l causes the smallest amount of jerk to the axis.

Trapezoidal: The trapezoidal profiles change velocity faster than the triangular but slower than the rectangular acceleration profile. The jerk on an axis is more significant than the triangular but less than the rectangular. There are three l l l choices of trapezoidal acceleration profile, specified by how much longer than the rectangular profile each takes to finish changing the velocity:

1.25 times longer than the rectangular profile,

1.5 times longer,

1.75 times longer.

The acceleration type can be modified at any moment. It will be applied to movements in the queue.

In general, the movement controller processes the commands in the queue ahead

(two points along) of where the axis is currently moving to.

Note: This is the only way to change the acceleration type of a group of coordinated axes. The acceleration type is rectangular by default.

Acceleration codes

The possible acceleration types are as follows:

Code

Type

RECTANGULAR_ACCEL

TRIANGULAR_ACCEL

ACCEL_TRAP_125

ACCEL_TRAP_150

ACCEL_TRAP_175

Description t1 = 0, Tacc = Taccrec

Tacc = 2Taccrec t2 = 3t1, Tacc = 1.25Taccrec

t1 = t2, Tacc = 1.5Taccrec

t1 = 3t2, Tacc = 1.75Taccrec

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Associated

Functions

The associated functions of this parameter are: l l

GetAccelType which sends a read request for the actual acceleration type,

SetAccelType which sends a write request for the new acceleration type.

These functions use, according to the language objects, the WRITE_CMD,

READ_PARAM or WRITE_PARAM instructions.

Associated

Language

Objects

Object Name

The table below presents the different language objects linked to the AccelType parameter.

Instruction type Description

%MFxy.i.40

ACCEL_TYPE

Function code

READ_PARAM

WRITE_PARAM

Read command

Write command

%MWxy.i.26

%MFxy.i.20

%MFxy.i.27

%MWxy.i.19

ACTION_CMD

RETURN_CMD_1 -

PARAM_CMD_1 -

ERROR_CMD

1540

2540

WRITE_CMD

Read command

Write command

Result of the read.

Value to write.

Error report. See ( WRITE_CMD

Command: Programming Errors, p. 304

)

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AccelerationType Data type

Description The acceleration type specifies the shape of the acceleration profile used when changing velocities on an axis. The motion controller provides three major types of acceleration profiles: l Rectangular: This acceleration profile changes the velocity in the shortest amount l of time. However, it also causes the largest amount of jerk to the axis.

Triangular: This acceleration profile takes the longest period of time to change the velocity (twice as long as the rectangular acceleration profile). However, it causes l the smallest amount of jerk to the axis.

Trapezoidal: The trapezoidal profiles change velocity faster than the triangular but slower than the rectangular acceleration profile. The jerk on an axis is more than the triangular but less than the rectangular. There are three choices of trapezoidal acceleration profiles, specified by how much longer than the rectangular profile each takes to finish changing the velocity: l l l

1.25 times longer than the rectangular profile

1.5 times longer

1.75 times longer

Value of the Data

Type

The following table lists the various values of the data type:

Acceleration type

RECTANGULAR_ACCEL

TRIANGULAR_ACCEL

ACCEL_TRAP_125

ACCEL_TRAP_150

ACCEL_TRAP_175

Value

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Resolution Parameters: GearRatio

Description This parameter is used to set the ratio of axis position to drive position for an axis.

Ratio The ratio represents the physical transmission between a motor and the axis movement point (a slide, table, spindle, etc.). It should only need to be changed if the transmission changes. It must be set to a valid value for correct axis positioning to occur. The ratio functions are GetGearRatio and SetGearRatio.

The definition of ratio is: axis position units / drive position units

This ratio is independent of the resolution of the feedback device attached to the motor, and of the default unit system for an axis. It is dependent on the axis units: being linear or angular.

Here is an example, where the drive position units on the SERCOS® drives are set as revolutions: l a lead screw is attached to the motor and moves the axis 2 inches/turn of the motor, so the ratio is set to inch(2) / rev(1).

l A transmission moves a rotary table 1 turn for 10 turns of the motor, so the ratio is set to rev(1) / rev(10).

Imaginary Axis and Ratio

A servo drive does not control an Imaginary Axis. The drive position units must be encoder feedback counts. The axis position units can be any angular or linear units.

The ratio should represent typical resolutions of position feedback devices. For example:

A ratio of: rev(1) / feedback count(65536)

A ratio of: mm(1) / feedback count(1000)

Remote Axis and

GearRatio

The position feedback for a RemoteSetpoint is the feedback register for that axis.

The 32-bit integer placed in the register is assumed to have feedback count units.

The ratio is chosen to convert to the desired axis units. For example:

A ratio of: rev(1) / feedback count(10000)

A ratio of: mm(1) / feedback count(1000)

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Associated

Functions

The associated functions of this parameter are: l l

GetGearRatio which sends a read request for the actual ratio,

SetGearRatio which sends a write request for the new ratio.

These functions use, according to the language objects, the WRITE_CMD,

READ_PARAM or WRITE_PARAM instructions.

Associated

Language

Objects

Object Name

The table below presents the different language objects linked to the Accel parameter.

Instruction type Description

%MFxy.i.59

SCALE_NUMERATOR

Function code

%MFxy.i.61

SCALE_DENOMINATOR -

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

Read command

Write command

Read command

Write command

%MWxy.i.26

ACTION_CMD

%MFxy.i.22

%MFxy.i.24

%MFxy.i.31

%MFxy.i.33

%MWxy.i.19

RETURN_CMD_2

RETURN_CMD_3

PARAM_CMD_3

PARAM_CMD_4

ERROR_CMD

1500

2500

WRITE_CMD

Read command

Write command

Result of the read (Numerator).

Result of the read (Denominator).

Value to write (Numerator).

Value to write (Denominator).

Error report. See ( WRITE_CMD

Command: Programming Errors,

p. 304

)

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Position Limit and Modulo Parameter: PositionLimit

Description This function is used to define the positive and negative limits for the axis.

The value of these limits is defined with PositionUnits units.

The positive or negative limit cannot be set to a value that causes the current position to be outside of the new limits. Use the SetPosition function or a movement function to change the current position to a value that is within the new limits before changing a limit.

Note: Position limits are not active until after the Home reference point function.

Associated

Functions

The associated functions of this parameter are: l GetPositionLimit which sends a read request for the actual positive and negative limit values (parameter function PARAM_CMD_1) of the designated axis, l SePositionLimit which sends a write request for the new positive and negative limit values (parameter function PARAM_CMD_1) of the designated axis,

These functions use, according to the language objects, WRITE_CMD,

READ_PARAM or WRITE_PARAM instructions.

CAUTION

When an incremental movement is required and the target position exceeds a position limit (%MFxy.i.55 et %MFxy.i.57 of the real or imaginary axis), the will take as its objective the position limit, and the axis will switch tolimit fault at the end of the movement. This remains true in the case of a co-ordinated type movement.

Failure to observe this precaution can result in injury or equipment damage.

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Language

Objects

Object

%MFxy.i.55

%MFxy.i.57

Name

The table below presents the different language objects linked to the PositionLimit parameter.

Instruction type Description

POSITION_MAX

Function code

POSITION_MIN -

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

Read command

Write command

Read command

Write command

%MWxy.i.26

%MFxy.i.22

%MDxy.i.27

ACTION_CMD

RETURN_CMD_2 -

PARAM_CMD_1 -

1505

2505

%MFxy.i.31

%MWxy.i.19

PARAM_CMD_3

ERROR_CMD

WRITE_CMD

Read command

Write command

Result of the read.

Value to write:

1 : positive limit

-1 : negative limit

Value to write: Position.

Error report. See ( WRITE_CMD

Command: Programming Errors, p. 304 )

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About the Modulo

Modulo Limits An individual axis can be configured to roll over the position reading when the axis crosses either the positive or negative modulo limit. Rolling over the position reading constrains the position reading to stay within the range of values between the negative and positive modulo limits.

For example, when controlling a rotary table and you want the axis to report position readings constrained between 0 and 360 degrees. If the modulo are activated when the axis reaches the positive modulo limit of 360 degrees, the position reading is rolled over to read the negative limit value of 0 degrees.

Position readings are constrained to be greater than or equal to the negative modulo limit, or less than the positive modulo limit. The position reading never equals the positive modulo limit. In this rotary table example, with modulo limits between 0 and

360 degrees, the axis never returns a position reading of 360 degrees. Instead, it returns 0 degrees.

The difference between the positive modulo limit and the negative modulo limit is known as the modulo range. This rotary table example has a modulo range of 360 degrees, or 1 revolution.

The positive and negative modulo limits can be any value, as long as the negative limit is less than and not equal to the positive limit. The negative limit does not have to be a negative number, only less than the positive limit. For the rotary table example, common negative and positive limit settings might be 0 and 360 degrees, or -180 and +180 degrees. Less common settings might be 360 and 720 degrees.

All these settings have a modulo range of 360 degrees.

Modulo may be activated or deactivated for an axis.

In this case, the position readings are not rolled over, and the distance the axis has traveled is reported based on the 0 position. That is, distance is specified as a result of the home command and the SetPosition function. This position measurment is referred to as the position without modulo.

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Modulo Limits and Position

Limits adjustment

The positive and negative modulo limits are independent of the positive and negative position limits. The position limits are compared with the position without modulo of an axis to determine if the End Of Travel for an axis has been reached.

The limits should be deactivated

If the position limits are set to values that are inside the modulo range of an axis that has activated modulos, the multi-axis motion controller prevents the axes from moving beyond the position limits. The axis does not have unlimited movement in this configuration.

In certain applications, you may want to set the position limits to values greater than the modulo limits. For example, suppose your application controls a rotary table that may have some attached cabling. The table may only be able to rotate a few turns before the cabling twists too much and becomes damaged. In such an application, you will certainly want to set position limits in order to limit the movement to prevent cabling damage. But you may also wish to set the modulo limits to one revolution of the table. For example, if the cable becomes tangled after five turns of the table, the application would set the positive position limit to the value (5 turns) and the negative position limit to the value(-5 turns). The modulo limits might be set at 0 degrees and

360 degrees. The axis is then prevented from moving more than 5 revolutions away from its source.

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Position Limit and Modulo Parameter: RolloverLimit

Description This parameter is used to define the positive and negative limits of the modulo of an axis.

The axis does not require its modulo to be enabled to use this function. This function does not activate the modulo. (Use the EnableRollover function). Modulo limits can be changed while an axis is enabled, but not while it is moving. The negative modulo limit must always be less than the positive modulo limit.

Associated

Functions

Language

Objects

Object

%MFxy.i.45

%MFxy.i.47

The associated functions of this parameter are: l GetRolloverLimit which sends a read request for the actual positive and negative l limit values (parameter function PARAM_CMD_1) of the designated axis,

SetRolloverLimit which sends a write request for the new positive and negative limit values (parameter function PARAM_CMD_1) of the designated axis.

These functions use, according to the language objects, the WRITE_CMD,

READ_PARAM or WRITE_PARAM instructions.

The table below presents the different language objects linked to the RolloverLimit parameter.

Instruction type Description Name Function code

ROLLOVER_MAX -

ROLLOVER_MIN -

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

Read command

Write command

Read command

Write command

%MWxy.i.26

%MFxy.i.22

%MDxy.i.27

ACTION_CMD

RETURN_CMD_2 -

PARAM_CMD_1 -

1539

2539

%MFxy.i.31

%MWxy.i.19

PARAM_CMD_3

ERROR_CMD

WRITE_CMD

Read command

Write command

Result of the read.

Value to write:

1 : positive limit

-1 : negative limit

Value to write: modulo

Error report. See ( WRITE_CMD

Command: Programming Errors, p. 304

)

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Position Limit and Modulo Parameter: EnableRollover

Description This parameter is used, for a given axis, to take account of position values or not.

The position arguments for move commands specify the desired target position for the axis in terms of rolled-over positions.

It is possible to change this parameter when the following is on. The positive and negative rollover limits must be configured to the desired values.

Language

Objects

This function uses, according to the language objects, the WRITE_CMD,

READ_PARAM or WRITE_PARAM instructions.

The table below presents the different language objects linked to the

Enable_Rollover parameter.

Object Name

%MWxy.i.35:X0 ENABLE_ROLLOVER 1

Functio n code

Instruction type Description

WRITE_PARAM Write command: Activation

Write command: Deactivation

%MWxy.i.26

ACTION_CMD

%MWxy.i.19

ERROR_CMD

411

412

WRITE_CMD Write command: Activation

Write command: Deactivation

Error report. See ( WRITE_CMD

Command: Programming Errors, p. 304 )

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About the In-Position Band

In-Position Band

Functions

The in-position band functions are GetInPositionBand and SetInPositionBand (see

Axis Position Adjustment). In-position band is the tolerance around a target position used to determine the IN_POSITION and AXIS_AT_TARGET states. If the absolute difference between the actual position and the target position is less than the inposition band, the module word reports IN_POSITION and AXIS_AT_TARGET values as follows: l The IN_POSITION bit is set after the axis has stopped (STOPPING status bit) at a target position and if the axis position is in the in-position band of the target position. It is not set to 1 if the position goes outside of the in-position band, or at the start of the next movement. It is not set to 1 during a Hold or FastStop, but is l set when Halt has finished, aborting the movement profile. IN_POSITION is set to 0 while deactivated, and is set when re-activated.

AXIS_AT_TARGET is set after the axis has arrived at the end of a movement profile (PROFILE_END status bit) at a target position and the axis position is within the in-position band of the target position. It is not set to 1 if the position goes outside of the in-position band, or at the start of the next movement. It is not set if a Halt, FastStop, disable drive, or fault interrupts a movement profile before the axis stops at the target position, even if the axis position ends up within the in-position band of the target. Deactivating and re-activating the drive does not l l modify the state of the AXIS_AT_TARGET bit. This bit is not set to 1 if

AXIS_POS_LIMIT or AXIS_NEG_LIMIT are set. AXIS_AT_TARGET is the same as IN_POSITION, except that: it is not changed when the drive is deactivated.

it is set to 0 at the end of a halt and is also not changed after re-activating the drive, l l it is set to 0 if the axis is at a limit, it is checked after PROFILE_END is set while IN_POSITION is checked after

STOPPING is set to 1.

The AXIS_AT_TARGET bit may not be set to 1 following the normal movement functions, such as Halt. Wait for PROFILE_END and IN_POSITION to be set, and then check for AXIS_AT_TARGET as a separate instruction.

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Position Limit Parameter: InPositionBand

Description This parameter is used to set the value of the in-position band of the specified axis.

This value is given in PositionUnits.

Associated

Functions

The associated functions of this parameter are: l l

GetInPositionBand which sends a read request for the actual position value,

SetInPositionBand which sends a write request for the new position value.

These functions use, according to the language objects, the WRITE_CMD,

READ_PARAM or WRITE_PARAM instructions.

Associated

Language

Objects

Object Name

The table below presents the different language objects linked to the InPositionBand parameter.

Description

%MFxy.i.41

IN_POSITION_BAND

Functio n code

Instruction type

READ_PARAM

WRITE_PARAM

Read command

Write command

%MWxy.i.26

ACTION_CMD

%MFxy.i.22

%MFxy.i.31

%MWxy.i.19

RETURN_CMD_2

PARAM_CMD_3

ERROR_CMD

1035

2035

WRITE_CMD

Read command

Write command

Result of the read.

Value to write

Error report. See ( WRITE_CMD

Command: Programming Errors,

p. 304

)

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About Enable Mode

Axis Enable

Mode

The enable mode for an axis, specified via the SetEnableMode function, controls the value of the position command that is first issued to the drive as it is enabling.

The two modes, which select between SETPOINT and CURRENT VALUE, are described below:

Value

Mode

MESURE

1 SETPOINT

Description

The feedback position of an axis is read from the drive, and the drive is commanded to servo to that position while it is enabling.

This prevents the axis from moving when it is enabling. This is the default enabling mode and is also the highly recommended mode for enabling.

The last commanded position while disabling the axis is used as the position command to the drive while enabling. This mode allows the axis to continue servoing to the same position when the axis is continually enabled and deactivated. If the axis moves while disabled, it will snap back to the prior setpoint as soon as the axis is enabled. The profile of the snap movement is controlled only by the servo gain parameters in the drive, which might cause abrupt movement. This mode should only be used when it can be determined that any movement during disabling is very small. The

EnablePositionBand (tolerance) is used to control the maximum permissible deviation from the diasabled commanded position. If the axis moves less than the tolerance while disabled, the disabled commanded position is used and the axis snaps back. If the axis moves more than the tolerance while disabled, then the present position of the axis is used and the axis remains still while disabling. An example situation is an axis with a brake that can only be moved under command module power.

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Tolerance in

SETPOINT Mode

In-position band is a tolerance band used when the SETPOINT enable mode is the defined EnableMode. If the CURRENTVALUE enable mode is defined, in-position band has no effect.

If the axis is configured in SETPOINT mode, and the axis moves less than the inposition band distance after the axis is deactivated, the axis control module:

1. Retrieves the last commanded position that was issued before the axis was deactivated.

2. Commands the axis to move to this position when the axis is re-activated.

If the axis moves more than the in-position band distance, the module re-activates the axis by provisionally changing to CURRENTVALUE mode. The module:

1. Reads the position of the axis.

2. Commands the axis to remain at this position when the axis is re-activated.

This prevents the axis from moving more than the in-position band when the axis is re-activated in SETPOINT mode.

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Position Limit Parameter: EnableMode

Description This parameter sets the axis activation mode: CURRENT VALUE or SETPOINT.

The default mode is CURRENT VALUE mode and is the recommended mode.

WARNING

You should set the SETPOINT enable mode only after reading the enable mode description and clearly understanding that if the axis moves less than the EnablePositionBand while deactivated, the axis will "snap" back to the last setpoint position prior to deactivation.

Adequate safeguards, such as axis brakes with no manual brake release and small, activated following error limits, should be used to prevent undesirable movement while activated.

Failure to observe this precaution can result in severe injury or equipment damage.

Associated

Functions

The associated functions of this parameter are: l GetEnableMode which sends a read request for the actual activation mode of the designated axis, l SetEnableMode which sends a write request for the new activation mode of the designated axis.

These functions use the WRITE_CMD instruction.

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TLX DS 57 PL7 xx

Associated

Language

Objects adjustment

The table below presents the different language objects linked to the EnableMode parameter.

Object Name

%MWxy.i.26

%MDxy.i.20

%MDxy.i.27

%MWxy.i.19

ACTION_CMD

RETURN_CMD_1

PARAM_CMD_1

ERROR_CMD -

Functio n code

1524

2524

Description

Read command

Write command

Result of the read.

Value to write: Activation mode.

0 : Current value

1 : Setpoint

Error report. See ( WRITE_CMD

Command: Programming Errors,

p. 304 )

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7.3 Parameters of a Group of Slave Axes

At a Glance

Aim of this

Section

What's in this

Section?

This section describes the adjustment functions for a group of slave axes.

This Section contains the following Maps:

Topic

Description of the Adjustment Screen of a SERCOS® Module: Slave Axes

About a Group of Slave Axes

SlaveMode Data

Slave Group Parameters: FollowerMode

Slave Group Parameter: FollowerConfig

Slave Group Parameter: FollowerRatio

About the Master Offset

Slave Group Parameters: MasterOffset

Slave Group Parameters: MasterTriggerPosition

Slave Group Parameters: FollowerBias

Slave Group Parameters: AbsFollowerBias

Page

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Description of the Adjustment Screen of a SERCOS® Module: Slave Axes

Introduction This screen is used to directly modify the configuration parameters of a slave axis in local or online mode.

Note: It is not possible to delete a master or a slave.

Illustration

Note: For more information on the common parts of the different adjustment screens, please see Description of the Adjustment Screens of SERCOS® Module:

General, p. 171.

The diagram below shows the adjustment zone of a SERCOS® channel configured in a real or imaginary axis.

Master

Slave 1

Measurement

Gearing

Setpoint

Cam No.

Start-up Immediately

Offset 1000000e.000

Bias remains

Trigger 0000000e.000

Follow on halt stop master/def.

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adjustment

Description

Element

Master

Slave

Reading/setpoint

Gearing/Cam

N°

Offset

Start-up

Bias

Trigger

Follow on halt

Stop master/def

The table below shows the adjustment zone of a SERCOS® channel configured in a slave axis.

Associated parameter

MASTER_CHANNEL

SLAVE_CHANNEL_Z

FOLL_TYPE_Z

FOLL_POSITION_Z)

NUMERATOR_Z

DENOMINATOR_Z

FOLL_START_Z

Bit/ word language associated

Description

%MWxy.i.35

Number of the master axis (1 to 16, N is not accessible)

%MWxy.i.36

%MWxy.i.37:X2

%MWxy.i.37:X1

%MFxy.i.38

%MFxy.i.40

%MWxy.i.37:X8 to

X10

Number of slave axis Z

Following type of slave Z

Slave Z ratio or cam mode)

Slave Z numerator

Slave Z denominator

Start conditions

FOLL_BIAS_REMAINS_Z %MWxy.i.37:X7

TRIGGER_POSITIO_Z %MFxy.i.42

%MWxy.i.37:X3

%MWxy.i.37:X6

Bias value

Value of trigger for slave axis Z

Halt of slave axis Z if link deleted.

Stop the master in the event of a following error

210

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adjustment

About a Group of Slave Axes

Slave Group

Using a

SlaveGroup

Threshold

Position

A SlaveGroup is an axis set that allows a group of axes to follow the movement of a l l master axis. There are two main modes for following a master axis:

Ratio: The slave axes follow the master axis by a ratio known as Ratio.

Cam: The movement of the slave axes in relation to the master is listed in a cam profile.

The SlaveGroup is told which axis is the master axis, but the master axis is not installed within the SlaveGroup. There is a single master axis that all slaves follow.

The master axis can be any type of individual axis. It is possible to change the axis that you want to designate as the master axis.

All the axes that you want to follow a master must be installed into the SlaveGroup.

A total of six axes may be installed into a SlaveGroup. Each slave axis may follow the master axis according to its own Ratio or Cam profile. Multiple slaves can share one Cam profile.

l l l

To use a SlaveGroup, generally proceed as follows:

Configure all the individual axes, which belong to this SlaveGroup.

Configure the SlaveGroup.

Enable all the drives in the SlaveGroup by issuing the EnableDrive function on the SlaveGroup.

l Enable following for slave axes using the Acquire and FollowOn bits, or deactivate slave axes by executing the FollowOff and Release bits.

You may command the slave axes to move when following is activated or deactivated. Any movement commands issued to a slave axis while following is activated will result in additional movement as well as the movement resulting from the slave following the master.

As an option, you may establish a master threshold position. The SetMasterTrigger-

Position function sets the master position at which following will be triggered for the specified axis. The SlaveMode indicates if the master threshold position will be used. When this feature is used, and following is activated, following actually begins when the master reaches the master threshold position.

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adjustment

Bias Value When following occurs, the value of bias indicates the distance between where the slave is and where it is supposed to be, according to the Cam or Slave Ratio. Make sure that following is actually occurring before calling the GetFollowerBias function.

(Do not rely on the fact that following was activated). For a slave axis, its

AXIS_IS_LINKED movement status bit will be set when following is taking place. If you call GetFollowerBias when following is not taking place, the return value will indicate the commanded position of the slave axis.

Use the Bias when you want to have the slave axis at a known point when the master is at a given point. This function is not useful for applications that command the slave to simply follow the master's speed by a certain ratio. It is also not useful when the slave needs to move a known incremental distance (for example, a "registration" movement).

In Ratio mode, the Bias value changes while the slave axis accelerates to the following speed after following is activated or the Ratio is modified.

The Bias value is latched when following begins. In Cam mode, the position where the slave is supposed to be is determined by the present master position and the corresponding entry in the Cam profile. In Ratio mode, the following formula indicates where the slave is supposed to be: where the slave axis should be = present master position * Ratio

When following begins, the movement controller sets the Bias value for the distance between the present position of the slave axis and where it should be. This Bias prevents the slave from jumping to where it is supposed to be when following begins.

The following movement of the slave axis will then be offset from where it is supposed to be, unless the Bias is zero. To reset the Bias, an incremental movement must be issued to the slave axis with the movement value equal to the negative of the value returned from the GetFollowerBias function.

212

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Non-Zero Bias

Master Offset

Status Bits adjustment

You may want to have a non-zero Bias. In Cam mode, it is possible to offset the movement from the values listed in the table. In Ratio mode, it is possible to shift the linear relationship, so that a plot of master positions versus slave positions does not pass through the point: slave position = 0 when master position = 0

That is, in Ratio mode, you may control where the slave should be for any particular master position. The Bias of a slave axis is modified by sending movement commands to that slave axis.

The SlaveMode can be changed at any time for any axis. This allows you to change from Cam to Ratio or vice versa, as well as changing Cam profiles or Slave Ratios.

Some applications are simplified by using the MasterOffset functions. Consider the case where one slave is supposed to follow a sinewave profile, while another slave is supposed to follow a cosine profile. For this case, a single Cam profile containing sinewave data could be shared by both slave axes, where MasterOffset values of 0 and 90 degrees would be set for the sinewave and cosine followers respectively.

The MovementStatus bits for a slave axis relate the state of a movement command sent to that axis. For example, the PROFILE_END bit being set does not indicate that the slave axis is stationary. The slave axis will move if the master axis moves.

When a movement command is sent to the slave axis, the PROFILE_END bit clears until this movement by the slave axis completes itself. The other status bits have similar behavior that reflects the state of the slave axis movement command, not the status of the master axis.

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SlaveMode Data

Description Within a SlaveGroup, there are two main methods for following a master axis: l l

Ratio: The slave axes follow the master axis using a ratio.

Camming: The movement of the slave axes in relation to the master is defined by a CamProfile.

Once all the axes have been installed into a SlaveGroup, the axes of the group are configured for following by specifying which type of SlaveMode to use for each axis.

The following table lists SlaveMode conditions. Bit 0 is the least significant bit (LSB).

SlaveMode Data The following table lists the various data values:

Name

FOLL_WHERE

FOLL_TYPE

FOLL_POSITION

Bit

FOLL_FOLLOW_ON_HALT 3

Description

Value = 0: Required

Determines the following type:

0 = Ratio

1 = Cam

Determines which position to follow:

0 = current value

1 = setpoint

Determines action to perform when following is turned on:

0 = do not halt any in-progress movement profile on the slave axis

1 = halt any in-progress movement profile on the slave axis

Reserved

FOLL_HALT_MASTER

4, 5

FOLL_BIAS_REMAINS 7

Determines whether the master should be halted if a slave faults while the following is on:

0 = keep master moving

1 = halt master

Determines the action to perform when following is turned off:

0 = halt any additional movement profile on the slave axis

1 = do not halt any additional movement profile on the slave axis

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Name

FOLL_START adjustment

Bit

8... 10

Description

Determines the start condition:

0 = immediately

1 = start when master position crosses master trigger position in the positive direction

2 = start when master position crosses master trigger position in the negative direction

3 = start when master position is greater than or equal to the master trigger position

4 = start when master position is less than or equal to the master trigger position

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Slave Group Parameters: FollowerMode

Description

Associated

Functions

This parameter contains the following mode in progress for the specified slave axis.

The function associated with this parameter is: l GetFollowerMode which sends a read request for the actual following mode,

This function uses the WRITE_CMD instruction.

Language

Objects

Object

%MWxy.i.26

%MDxy.i.20

%MDx’y’.i.27

%MWxy.i.19

Name

The table below presents the different language objects linked to the FollowerMode parameter.

Description

ACTION_CMD

RETURN_CMD_1

PARAM_CMD_1

ERROR_CMD

Functio n code

1529

Instruction type

WRITE_CMD

Read command

Result of the read.

Value to write: Identifier (1) of the slave axis in the slave group.

Error report. See ( WRITE_CMD

Command: Programming Errors,

p. 304 )

Legend xy x’y’

(1)

Slave group address (channel between 21 and 24)

Slave axis address (channel between 1 and 12)

This identifier is contained in the constant word %KWxy.i.0

216

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Slave Group Parameter: FollowerConfig

Description This function is used to set the FollowerMode and corresponding slave profile

(FollowerRatio or CamProfile) for the specified axis.

Note: A Cam profile must be configured before it is referred to.

Note: It is possible to change this parameter when the following is on. However, when the following is activated in Cam mode, or is switching to Cam mode, the slave's speed may change rapidly if the new movement profile is significantly different from the old profile.

Associated

Functions

The function associated with this parameter is: l SetFollowerConfig which sends a write request for the new following modes and movement profile,

This function uses the WRITE_CMD instruction.

Associated

Language

Objects

Object

%MWxy.i.26

%MDx’y’.i.27

The table below presents the different language objects linked to the FollowerConfig parameter.

Name Functio n code

ACTION_CMD 420

PARAM_CMD_1 -

Instruction type

WRITE_CMD

Description

%MDxy.i.29

%MFxy.i.31

%MFxy.i.33

PARAM_CMD_2 -

PARAM_CMD_3 -

PARAM_CMD_4 -

Write command

Value to write: Identifier (1) of the slave axis in the slave group.

Value to write: Follower mode. See SlaveMode

Data, p. 214

Value to write:

Numerator for ratio mode,

Movement profile for cam mode.

Value to write: Denominator for ratio

%MWxy.i.19

ERROR_CMD Error report. See ( WRITE_CMD Command:

Programming Errors, p. 304 )

Legend xy

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Slave group address (channel between 21 and 24)

217

adjustment

Object x’y’

(1)

Name Functio n code

Instruction type Description

Slave axis address (channel between 1 and 12)

This identifier is contained in the constant word %KWxy.i.0

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Slave Group Parameter: FollowerRatio

Description

Associated

Functions

This parameter is used to change the Ratio of the specified slave axis.

The ratio numerator indicates how much the slave will move when the master axis moves the distance showing on the denominator. The ratio value can be modified at any time.

The Ratio DOES NOT CHANGE instantaneously in order to obtain a smooth movement when the slave is activated and the following movement takes place.

The associated functions of this parameter are: l GetFollowerRatio which sends a read request for the tolerance of the actual l position of the designated axis,

SetFollowerRatio which sends a write request for the tolerance of the actual position of the designated axis,

These functions use, according to the language objects, the WRITE_CMD,

READ_PARAM or WRITE_PARAM instructions.

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Language

Objects

Object

%MFxy.i.38

%MFxy.i.40

%MFxy.i.46

%MFxy.i.48

%MFxy.i.54

%MFxy.i.56

%MFxy.i.62

%MFxy.i.64

%MFxy.i.70

%MFxy.i.72

%MFxy.i.78

%MFxy.i.80

Name

The table below presents the different language objects linked to the FollowerRatio parameter.

Description

NUMERATOR_1

DENOMINATOR_1

NUMERATOR_2

DENOMINATOR_2

NUMERATOR_3

DENOMINATOR_3

NUMERATOR_4

DENOMINATOR_4

NUMERATOR_5

DENOMINATOR_5

NUMERATOR_6

DENOMINATOR_6

Functio n code

Instruction type

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

Slave 1 read command

Slave 1 write command

Slave 1 read command

Slave 1 write command

Slave 2 read command

Slave 2 write command

Slave 2 read command

Slave 2 write command

Slave 3 read command

Slave 3 write command

Slave 3 read command

Slave 3 write command

Slave 4 read command

Slave 4 write command

Slave 4 read command

Slave 4 write command

Slave 5 read command

Slave 5 write command

Slave 5 read command

Slave 5 write command

Slave 6 read command

Slave 6 write command

Slave 6 read command

Slave 6 write command

%MWxy.i.26

ACTION_CMD

%MFxy.i.22

%MFxy.i.24

RETURN_CMD_2

RETURN_CMD_3

1114

2114

WRITE_CMD

Read command

Write command

Result of reading the Numerator variable.

Result of reading the Denominator variable.

220

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Object Name

%MDxy.i.27

PARAM_CMD_1

%MFxy.i.31

%MFxy.i.33

%MWxy.i.19

PARAM_CMD_3

PARAM_CMD_4

ERROR_CMD adjustment

Functio n code

Instruction type

Description

Value to write: identifier of the axis of which the ratio is sent back.

Value to write: ratio numerator.

Value to write: ratio denominator.

Error report. See ( WRITE_CMD

Command: Programming Errors,

p. 304

)

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adjustment

About the Master Offset

Value of the

Master Offset

Features

A FollowerAxis follows the sum of the master's position and the MasterOffset value.

Typically, a MasterOffset value is changed while following is off. The MasterOffset may be changed while following is on, but be careful to avoid undesirable motion.

The MasterOffset is applied immediately, without any blending. A large change in the MasterOffset with following on will cause the follower to move to the new following position rapidly.

MasterOffset optional features : GetMasterOffset and SetMasterOffset can simplify some applications. Consider the case where one follower axis is supposed to follow a sinewave profile, while another follower axis is supposed to follow a cosine profile.

For this case, a single CamProfile containing sinewave data could be shared by both follower axes, where MasterOffset values of 0 and 90 degrees would be set for the sinewave and cosine followers, respectively.

222

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Slave Group Parameters: MasterOffset

Description This parameter is used to define the master offset value for the specified slave axis.

Each slave axis can have a unique offset applied to the master position. This is helpful when you want to use a single Cam profile for several slave axes, but each slave's cam shape is rotated some amount with respect to another slave's cam.

Note: The MasterOffset may be modified while following is on, but be careful to avoid undesirable movement. Large changes should be blended in as a series of small increments to avoid rapid, immediate changes in the slave position.

Associated

Functions

The associated functions of this parameter are: l GetMasterOffset which sends a read request for the actual value of the master offset of the designated axis, l SetMasterOffset which sends a write request for the actual value of the master offset of the designated axis,

These functions use, according to the language objects, the WRITE_CMD,

READ_PARAM or WRITE_PARAM instructions.

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Associated

Language

Objects

Object Name

The table below presents the different language objects linked to the MasterOffset parameter.

Description

%MFxy.i.40

%MFxy.i.48

%MFxy.i.56

%MFxy.i.64

%MFxy.i.72

%MFxy.i.80

DENOMINATOR_1

DENOMINATOR_2

DENOMINATOR_3

DENOMINATOR_4

DENOMINATOR_5

DENOMINATOR_6

Functio n code

Instruction type

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

Slave 1 read command

Slave 1 write command

Slave 2 read command

Slave 2 write command

Slave 3 read command

Slave 3 write command

Slave 4 read command

Slave 4 write command

Slave 5 read command

Slave 5 write command

Slave 6 read command

Slave 6 write command

%MWxy.i.26

ACTION_CMD

%MFxy.i.22

%MDx’y’.i.27

RETURN_CMD_2

PARAM_CMD_1

%MFxy.i.31

%MWxy.i.19

PARAM_CMD_3

ERROR_CMD

1532

2532

WRITE_CMD

Read command

Write command

Result of the read: Position variable.

Value to write: Identifier (1) of the slave axis in the slave group.

Value to write: Position.

Error report. See ( WRITE_CMD

Command: Programming Errors,

p. 304 )

Legend xy x’y’

(1)

Slave group address (channel between 21 and 24)

Slave axis address (channel between 1 and 12)

This identifier is contained in the constant word %KWxy.i.0

224

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adjustment

Slave Group Parameters: MasterTriggerPosition

Description

Associated

Functions

This parameter is used to set the master position at which following will be triggered for the specified axis.

This value is only used if the follower mode indicates that the following start condition should use the master trigger position.

The associated functions of this parameter are: l GetMasterTriggerPosition which sends a read request for the actual position value of the master, l SetTriggerPosition which sends a write request for the new position value of the master.

These functions use, according to the language objects, the WRITE_CMD,

READ_PARAM or WRITE_PARAM instructions.

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Associated

Language

Objects

Object Name

The table below presents the different language objects linked to the MasterTrigger-

Position parameter.

Description

%MFxy.i.42

%MFxy.i.50

%MFxy.i.58

%MFxy.i.66

%MFxy.i.74

%MFxy.i.82

TRIGGER_POSITION_1

TRIGGER_POSITION_2

TRIGGER_POSITION_3

TRIGGER_POSITION_4

TRIGGER_POSITION_5

TRIGGER_POSITION_6

Functio n code

Instruction type

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

READ_PARAM

WRITE_PARAM

Slave 1 read command

Slave 1 write command

Slave 2 read command

Slave 2 write command

Slave 3 read command

Slave 3 write command

Slave 4 read command

Slave 4 write command

Slave 5 read command

Slave 5 write command

Slave 6 read command

Slave 6 write command

%MWxy.i.26

ACTION_CMD

%MFxy.i.22

%MDx’y’.i.27

RETURN_CMD_2

PARAM_CMD_1

%MFxy.i.31

%MWxy.i.19

PARAM_CMD_3

ERROR_CMD

1531

2531

WRITE_CMD

Read command

Write command

Result of the read: Position variable.

Value to write: Identifier (1) of the slave axis in the slave group.

Value to write: Position.

Error report. See ( WRITE_CMD

Command: Programming Errors,

p. 304 )

Legend xy x’y’

(1)

Slave group address (channel between 21 and 24)

Slave axis address (channel between 1 and 12)

This identifier is contained in the constant word %KWxy.i.0

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Slave Group Parameters: FollowerBias

Description This parameter contains the Bias value.

If rollovers are enabled, the Bias is returned as a rolled value.

Associated

Functions

The function associated with this parameter is: l GetFollowerMode which sends a read request for the actual following mode,

This function uses the WRITE_CMD instruction.

Associated

Language

Objects

Object Name

The table below presents the different language objects linked to the FollowerBias parameter.

Description

%MWxy.i.26

%MFxy.i.22

%MDx’y’.i.27

%MWxy.i.19

ACTION_CMD

RETURN_CMD_2

PARAM_CMD_1

ERROR_CMD

Functio n code

1527

Instruction type

WRITE_CMD

Read command

Result of the read.

Value to write: Identifier (1) of the slave axis in the slave group.

Error report. See ( WRITE_CMD

Command: Programming Errors,

p. 304

)

Legend xy x’y’

(1)

Slave group address (channel between 21 and 24)

Slave axis address (channel between 1 and 12)

This identifier is contained in the constant word %KWxy.i.0

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Slave Group Parameters: AbsFollowerBias

Description This parameter is used to stop following and move a slave axis to an absolute position while not stopping the slave.

Absolute Bias The Absolute Bias is the difference between the Bias - returned by the GetFollowerBias function - and the additive commanded position to a slave axis. The Absolute

Bias can be used in conjunction with an absolute movement command (Move_Abs) to position the slave axis to a position that can be calculated.

Position

Commanded to a

Slave Axis

The commanded position to a slave axis is the sum of the position command from following the master and the Bias:

Command_pos = SlaveMethod (master_pos + master_offset) + Bias; l l where SlaveMethod is for:

Ratio: multiply the master argument by the Ratio

Cam: index into the Cam Profile given by the master argument.

Bias The Bias is also composed of two parts:

Bias = additive_pos_command + abs_bias; where: l additive_pos_command is the position command being generated by any move commands directed to the follower axis itself.

l abs_bias is a value that is latched whenever Follower Modes are changed (such as activating slave, or changing Cam Profiles or Follower Ratios). The latched value is calculated to avoid any jump in the position command when the new mode is used. This latched value is referred to as the Absolute Bias.

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Using Absolute

Bias adjustment

Absolute Bias can be used to position the follower axis to some known absolute position if the value from the SlaveMethod function is known and is constant. One situation where Absolute Bias can be used is in Ratio mode to stop following the master axis but to keep moving the slave axis at a continuous speed. Set the

FOLL_BIAS_REMAINS Follower Mode bit to 1, and use the SetFollowerConfig function to configure the mode. Deactivate following, and immediately issue a continuous move immediate command in the desired direction with the desired speed. The Slave Ratio decelerates to 0 at the deceleration rate while the movement immediate accelerates to the desired velocity with the acceleration rate.

Acceleration and deceleration will occur simultaneously with each other leaving the axis moving at the desired speed when both are finished (the slave axis RAMPING bit is set to 0). In Ratio mode with a FOLL_BIAS_REMAINS and following deactivated, the SlaveMethod function part of the position command calculation is

0, giving: pos_command = additive_pos_command + abs_bias;

The slave axis can now be moved to some absolute target by issuing an absolute move command, compensated by the Absolute Bias, or: foll_axis.moveImmed (ABS_MOVE, target - abs_bias, speed);

Once this movement's profile is completed, issue a halt or disable drive command to the slave, then normal movement commands can be issued, unaffected by a Bias value.

The value returned is the Absolute Bias. If modulos are activated, the Absolute Bias is returned with modulo.

Associated

Functions

The function associated with this parameter is: l GetFollowerMode which sends a read request for the actual following mode,

This function uses the WRITE_CMD instruction.

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Associated

Language

Objects

Object Name

The table below presents the different language objects linked to the AbsFollowerBias parameter.

Description

%MWxy.i.26

%MFxy.i.22

%MDx’y’.i.27

%MWxy.i.19

ACTION_CMD

RETURN_CMD_2

PARAM_CMD_1

ERROR_CMD

Functio n code

1526

Instruction type

WRITE_CMD

Read command

Result of the read.

Value to write: Identifier (1) of the slave axis in the slave group.

Error report. See ( WRITE_CMD

Command: Programming Errors,

p. 304 )

Legend xy x’y’

(1)

Slave group address (channel between 21 and 24)

Slave axis address (channel between 1 and 12)

This identifier is contained in the constant word %KWxy.i.0

230

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adjustment

7.4 Cam Profile Adjustment

Introduction

Aim of this subchapter

What's in this

Section?

This sub-chapter describes adjustment functions for a cam profile.

This Section contains the following Maps:

Topic

About Cam Profiles

Cam Profile Parameters: Length

Cam Profile Parameters: LookUpFollowerPosition Function

Cam Profile Parameters: Coord

Cam Profile Parameter: InterpType

Cam Profile Parameter : ProfileId

Description of the TRF_RECIPE Screen for Cam Profiles

TRF_RECIPE Instruction

Page

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About Cam Profiles

Introduction

Master Positions and Increments

The master positions must be in increasing order in the table from the first element in the profile until the last. For example, the master positions cannot go from 360 degrees to 0 degrees because these master positions are not increasing.

The increments between master positions can be variables. A fixed increment is not required. For example, the following are acceptable master position values: 0, 1, 2,

100, 300, 360. Any valid position units can be used.

Typical

Applications

A cam profile relates the position of a slave axis for a given position of a master axis.

The cam profile is a table of master and slave position co-ordinates. Position points that are not explicitly listed in the table are derived by interpolating between the given points. Interpolation can be linear or cubic.

Establishing a

Cam Profile

Modifying the

Interpolation

Type

Applications require smooth movement, as movement proceeds from one iteration through a profile to the next. To make this transition as smooth as possible, the value of the slave position for the first data point should be the same value of the slave position for the last data point. For example, if master positions are in degrees, and slave positions are in inches, and if the first position is for the master at 0 degrees, the slave at 0 inches, then the corresponding last position would be the master at

360 degrees with the slave at 0 inches.

Each point in a cam profile table has a position value for both co-ordinate axes of the cam profile. This means a cam profile has two values per point: one for the master position and one for the slave position. The SetCoord function changes both values of an existing point in a cam profile. The GetCoord function returns both values of the designated point in a cam profile.

In a cam profile table of points, positions that are not in these tables are derived by interpolating between the given points. Linear and cubic interpolation are supported.

Modification of the interpolation type is supported via the GetInterpType and

SetInterpType functions.

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Cam Profile Parameters: Length

Description This parameter contains the number of point specified for a profile.

The number of points varies according to the profile configuration.

The table below introduces the different configuration possibilities.

Configuration...

from a file from the holding register without data at should be defined by the SetCoord function

Then...

the number of points is automatically determined one of these registers identifies the length this function call contains the number of points adjustment

Associated

Functions

The function associated with this parameter is: l GetLength which sends a read request for the number of points in the profile

This function uses the WRITE_CMD instruction.

Associated

Language

Objects

Object

%MWxy.i.26

%MDxy.i.20

%MWxy.i.19

The table below presents the different language objects linked to the Length parameter.

Name Function code

ACTION_CMD 534

RETURN_CMD_2 -

ERROR_CMD -

Instruction type

WRITE_CMD

Description

Read command

Result of the read.

Error report. See ( WRITE_CMD

Command: Programming Errors, p. 304 )

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Cam Profile Parameters: LookUpFollowerPosition Function

Description

Associated

Functions

This function contains the position of the profile slave, to provide a specified master position.

The slave position is derived by using the interpolation type that has been configured for this profile.

The associated function is: l GetLookUpFollowerPosition which sends a read request to the position of the profile slave,

This function uses the WRITE_CMD instruction.

Language

Objects

Object

%MWxy.i.26

%MFxy.i.22

%MFxy.i.31

%MWxy.i.19

The table below presents the different language objects linked to the Length parameter.

Instruction type Description Name Function code

ACTION_CMD 537

RETURN_CMD_2 -

PARAM_CMD_3

ERROR_CMD

WRITE_CMD

Read command

Result of reading: Slave position.

Value to write: Master position

Error report. See ( WRITE_CMD

Command: Programming Errors, p. 304

)

234

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Cam Profile Parameters: Coord

Description This function is used to modify the co-ordinates of an existing cam profile point.

The point index starts at zero. Therefore, to modify the first entry in a cam profile, use an index value of 0.

Cam profiles are specified as a table of co-ordinate position points. These coordinates are accessed using the PosCoord data structure. Each point has a position value for both co-ordinate axes of the profile. This means a cam profile has two values per point: one for the master position and one for the slave position.

The master positions must be in increasing order from the first element in the cam profile until the last. For example, the master positions cannot go from 360 degrees to 0 degrees because these master positions are not increasing.

The increments between master position values can be variables. A fixed increment is not required. For example, the following are acceptable master position values: 0,

1, 2, 100, 300, 360. Any valid position units can be used.

CAUTION

Do not modify a profile, do not call the functions Configure, SetCoord(), or SetInterpType while following is on in a Follower Group which uses the CamProfile.

Failure to observe this precaution can result in injury or equipment damage.

Note: In some special situations, the SetCoord function may be called to change the profile while following is on. However, you must only change profile points that are separated by two profile point entries from the nearest profile points that are being used by the slave axis. Failure to ensure this restriction will cause undesired slave movement.

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Associated

Functions

The associated functions of this parameter are: l GetCoord which sends a read request for the actual co-ordinates of an existing l cam profile point,

SetCoord which sends a write request for the new co-ordinates of an existing cam profile point.

These functions use the WRITE_CMD instruction.

Language

Objects

Object

%MWxy.i.26

%MFxy.i.22

Name

ACTION_CMD

Function code

532

533

RETURN_CMD_2 -

%MFxy.i.24

%MDxy.i.27

%MFxy.i.31

%MFxy.i.33

%MWxy.i.19

The table below introduces the different functions.

RETURN_CMD_3 -

PARAM_CMD_1

PARAM_CMD_3

PARAM_CMD_4

ERROR_CMD

Instruction type Description

WRITE_CMD

Read command

Write command

Result of the read: Master position point from the cam profile table.

Result of the read: Slave position point from the cam profile table.

Value to write: Required point index.

Value to write: Master position

Value to write: Slave position

Error report. See ( WRITE_CMD

Command: Programming Errors, p. 304

)

236

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Cam Profile Parameter: InterpType

Description This parameter is used to define the interpolation style used to generate the positions which do no have to feature in the profile data.

The cubic interpolation algorithms force the first derivative of the points in the table to be continuous, where the first derivative value at any point in the table matches the slope of a line segment between the previous point and the next point.

CAUTION

Do not modify a profile, do not call the functions Configure, SetCoord, or SetInterpType while following is on in a Slave Group which uses the cam profile.

Failure to observe this precaution can result in injury or equipment damage.

Associated

Functions

The associated functions of this parameter are: l l

GetInterpType which sends a read request for the actual interpolation style,

SetInterpType which sends a write request for the new interpolation style.

These functions use the WRITE_CMD instruction.

Associated

Language

Objects

Object

%MWxy.i.26

%MDxy.i.20

%MDxy.i.27

%MWxy.i.19

The table below presents the different language objects linked to the InterpType parameter.

Name

ACTION_CMD

RETURN_CMD_1 -

PARAM_CMD_1 -

Function code

530

531

ERROR_CMD -

Instruction type

WRITE_CMD

Description

Read command

Write command

Result of the read.

Value to write: Interpolation Type

0 : linear,

1 : cubic.

Error report. See ( WRITE_CMD

Command: Programming Errors, p. 304 )

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adjustment

Cam Profile Parameter : ProfileId

Description This parameter contains the profile identification.

Associated

Functions

The function associated with this parameter is: l GetProfileId which sends a read request to the position of the profile's slave follower,

This function uses the WRITE_CMD instruction.

Language objects

Object

%MWxy.i.26

%MDxy.i.27

%MWxy.i.19

The table below presents the different language objects linked to the ProfileId parameter.

Instruction type Description Name Function code

ACTION_CMD 528

RETURN_CMD_1 -

ERROR_CMD -

WRITE_CMD

Read command

Result of the read

Error report. See ( WRITE_CMD

Command: Programming Errors, p. 304

)

238

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Description of the TRF_RECIPE Screen for Cam Profiles

Introduction This screen, situated at the bottom of the adjustment screen of a cam profile is used to transfer adjustment parameters between the PLC at the variable speed controller

This function has to be in online mode.

Note: For more information on the common parts of the different adjustment screens, please see Description of the Adjustment Screens of SERCOS® Module:

General, p. 171.

Illustration The diagram below shows the screen associated with the TRF_RECIPE function.

Transfer the cam profiles

Direction of transfer

Read

Write

"Master" table

"Slave" table

Transfer

Parameters

Reading the "master" and "slave" table and transfer to the PLC memory:

Address table %MW 100

Length 200

Results

Error transfer:

Length of the table read:

Description The table below shows the Direction of transfer of the TRF_RECIPE zone.

Element Symbol/description Language word associated

%MWxy.i.10

Read/Write

"Master" table

"Slave" table

See TRF_RECIPE

Choose the table(s) to be transferred

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adjustment

The table below shows the Parameters of the TRF_RECIPE zone.

Element Description

Address table

Language word associated

%MDxy.i.11

Length

Immediate value

Two parameters may be modified: the type of object memory for storing data: l l

%MW in read write

%KW in read only the address of the beginning of the table

Table length

The table below shows the Result of the TRF_RECIPE zone.

Element Description

Error transfer

Language word associated

%MWxy.i.3

Length of the table read

%MDxy.i.4

This field provides the error code (See

TRF_RECIPE Command Explicit Writing

Faults, p. 310 ) in the case of an invalid

transfer.

Real length of the table

240

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TRF_RECIPE Instruction

Reminder This instruction enables you to read or write the cam profiles and to begin the execution of special functions.

Note: The given parameter length of TRF_RECIPE defines a number of words

(double or floating) whatever the type of information exchanged.

Note: This service is also used to read or write the speed drive parameters with the

"Real axis " function, (See

TRF_RECIPE, p. 181).

Syntax of

TRF_RECIPE

Instruction

Note: Parameter exchanges (READ_PARAM, WRITE_PARAM, SAVE_PARAM,

RESTORE_PARAM) cannot be performed at the same time as the TRF_RECIPE instruction.

TRF_RECIPE %CHxy.i (length, address %MW): transfers the cam profile parameters from the table of %MW words. The length of this table to be transferred is defined by the length parameter. The action to be carried out is defined by the word %MWxy.i.10 (ACTION_TRF).

Example: TRF_RECIPE %CH104.25(100,200): "slave" table reading of cam profile

25 of module situated at position 4 of rack 1 and transfer to the PLC from address

200.

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TRF_RECIPE

Interface

The command to be carried out is defined in the word %MWxy.i.10 and the result of the command is available in the word %MWxy.i.3 to %MWxy.i.8.

Address Type

%MWxy.i.10

Word

%MWxy.i.3

%MDxy.i.4

%MFxy.i.6

%MFxy.i.8

Word

Symbol

ACTION_TRF

ERROR_TRF

Meaning

Action to be carried out

Write error of the TRF_RECIPE command

Double word RETURN_TRF_1 Return 1 of the function

Floating point

RETURN_TRF_2 Return 2 of the function

Floating point

RETURN_TRF_3 Return 3 of the function

%MDxy.i.11

%MDxy.i.13

%MFxy.i.15

%MFxy.i.17

Double Word PARAM_TRF_1

Double Word PARAM_TRF_2

PARAM_TRF_3 Floating point

Floating point

PARAM_TRF_4

Parameter 1

Parameter 2

Parameter 3

Parameter 4

Actions Carried

Out by

TRF_RECIPE

The actions that can be carried out using the TRF_RECIPE service are:

Function Meaning

Cam profile

101

102

103

ACTION_TRF

(%MWxy.i.10)

Reading the "master" table.

Reading the "slave" table.

Reading the "master" and "slave" tables.

Writing the "master" table.

Writing the "slave" table.

Writing the "master" and "slave" tables.

242

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Legend

Writing the Drive to the Module

Writing the Module to the Drive

Reading

PARAM_TRF_1 = 0. On MW

PARAM_TRF_1 = 1. On KW

PARAM_TRF_1 = 0.

PARAM_TRF_2 = OFFSET

PARAM_TRF_3 and PARAM_TRF_4 = 0

RETURN_TRF_1(%MDxy.i.4)=length of the table read or written

RETURN8TRF_2 rt RETURN_TRF_3 = 0

Monitoring the

Exchange

The following 2 bits can be used to monitor the exchanges carried out with the help of TRF_RECIPE instruction:

Bit

%MWxy.i.0:X3

%MWxy.i.1:X3

Meaning

Exchange in process.

Incorrect exchange.

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7.5 Sercos® ring parameters

Introduction

Aim of this subchapter

What's in this

Section?

This sub-chapter introduces the adjustment screen of the SERCOS® ring and describes the associated adjustment parameters.

This Section contains the following Maps:

Topic

Description of the Adjustment Screen of a SERCOS® Module: SERCOS® ring

Page

245

Adjustment graph for optical power

Sercos(r) ring parameters: OpticalPower

246

247

244

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Description of the Adjustment Screen of a SERCOS® Module: SERCOS® ring

Introduction This screen is used to directly modify the value of the optic power in local or online mode.

It recalls the value of the current ring cycle time.

Note: For more information on the common parts of the different adjustment screens, please see Description of the Adjustment Screens of SERCOS® Module:

General, p. 171.

Illustration The diagram below shows the adjustment zone of the SERCOS® ring.

TSX CSY 84 [RACK0 POSITION 4]

Adjustment

Designation: MOD.CDE AXE 8 VOIES N4

RUN I/O ERR DIAG...

Symbol:

Channel:

0 SERCOS Ò

Function:

Bus SERCOS Ò

Channels configured: 0,1,9,10,13,17,21,25

Manufacturer parameters

Cycle time: 4000

µ s

Optical Power: 66 %

Task:

MAST DIAG...

Description The table below shows the Parameter constructer of the adjustment zone.

Element

Cycle time

Optical power

Associated parameter

Bit/ word language associated

Symbol/description

%MWxy.i.37

Value of the current ring cycle time.

Adjusting the Optical Power

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Adjustment graph for optical power

Optical Power The optical power for the TSX CSY 84 module, given as a percentage, is a function of the length of the first segment (between the TSX CSY 84 module and the first drive).The configuration or adjustment of the optical power must conform to the following graph:

100%

66%

15 m 40 m

246

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adjustment

Sercos

®

ring parameters: OpticalPower

Description

This parameter enables you to set the optical power (light output) of the 'SERCOS

®

loop transmitter (LED).

The value is given as a percentage, with an actual resolution of change in power of

20%.

The minimum non-0 optical power is supplied at 66% percent. Full power is supplied at 100%. The LED output is cut if the value is 0%.

Note: The default value for the optical power is 66% percent. This value normally works with all SERCOS(r) drives and all cable lengths. It is possible that the optical power setting may need to be reduced if the length of optical fiber from between the movement controller and the first drive is extremely short. In this case, reducing the optical power may prevent overdriving the drive's receiver LED circuitry.

Associated

Functions

The associated functions of this parameter are: l GetOpticalPower which sends a read request for the actual optical power of the transmitter, l SetOpticalPower, which sends a write request for the new optical power of the transmitter.

These functions use, according to the language objects, the WRITE_CMD,

READ_PARAM or WRITE_PARAM instructions.

Associated

Language

Objects

Object

%MWxy.i.26

%MFxy.i.22

%MFxy.i.31

%MWxy.i.19

The table below presents the different language objects linked to the OpticalPower parameter.

Name

ACTION_CMD

RETURN_CMD_2 -

PARAM_CMD_3 -

ERROR_CMD -

Function code

1547

2547

Instruction type

WRITE_CMD

Description

Read command

Write command

Result of the read.

Value to write

Error report. See ( WRITE_CMD

Command: Programming Errors, p. 304 )

TLX DS 57 PL7 xx

247

adjustment

7.6 SERCOS® IDN Read/Write Functions

At a glance

Heading of this sub-chapter

What's in this

Section?

This section describes the read/write functions for SERCOS® IDs and lists the standard IDs.

This Section contains the following Maps:

Topic

Drive Parameters: IDN_S and IDN_P

Drive Parameters: IDN_US and IDN_UP

Standard SERCOS Identification Numbers (IDN)

IDNs for customized telegrams

Page

248

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adjustment

Drive Parameters: IDN_S and IDN_P

Description These parameters enable you to directly control the drives by the application

(independently of the TSX CSY 84 module).

They can be divided into two categories: l l

IDN_S dits standards (Standard SERCOS®), See (

cation Numbers (IDN), p. 253),

Standard SERCOS Identifi-

IDN_P dits owners (specific to drive constructors, see information on drives).

l l l l l

Note: This manufacturer information should specify: the size of the parameter (16 or 32 bit), whether the parameter is signed or unsigned, the SERCOS® loop phase in which the parameter is authorised, the legal values of the parameter, what type of scaling (if any) must be used to interpret the data.

Associated

Functions

The associated functions of this parameter are: l GetIDN_S and GetIDN_P, which send a read request of the current parameters with SERCOS® identification numbers (IDN)). These parameters are read via the command axis module.

l SetIDN_S and SetIDN_P which send a write request of the new parameters with

SERCOS® identification numbers (IDN)).

Note: (IDN) SERCOS®, : S-0-xxxx (standard parameters) and P-0-xxxx (product specific parameters) respectively)

These functions can only be used to read or write 16-bit or 32-bit parameters to the

SERCOS® drive. SERCOS® variable length text parameters cannot be accessed using these functions.

When read, the 16 and 32-bit parameters are returned in the form of 32-bit values.

The 16-bit SERCOS® IDN values are extended to a 32-bit returned value based on the type of the 16-bit SERCOS® IDN.

For example, if the16-bit SERCOS® parameter is a signed parameter, then the 16bit value is sign-extended to a 32-bit signed value. Equally, if the 16-bit SERCOS® parameter is an unsigned parameter, then the 16-bit value is extended by placing zeroes in the uppermost 16 bits of the 32-bit returned value.

TLX DS 57 PL7 xx

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adjustment

Note: Some IDN SERCOS® parameters are associated with unit and scale factors. In addition, these functions do not allow the parameters to be converted

(values in axis default units into drive units or vice versa). (Therefore use the

IDN_US and IDN_UP functions)

These functions use the WRITE_CMD instruction.

Language objects

Object

%MWxy.i.26

%MWxy.i.26

%MDxy.i.20

%MDxy.i.27

%MDxy.i.29

%MFxy.i.31

%MWxy.i.19

The table below presents the different language objects linked to the OpticalPower parameter.

Name

ACTION_CMD

Functio n code

1556

2556

RETURN_CMD_1 -

PARAM_CMD_1 -

1557

2557

PARAM_CMD_2

PARAM_CMD_3

ERROR_CMD

Instruction type

Description

WRITE_CMD Read command IDN_S

Write command IDN_S

Read command IDN_P

Write command IDN_P

Result of the read.

Value to write: IDNSercos. Format type of

1...4095. However, use of the bits 12...14 is allowed. These bits indicate which parameter sets are being selected. (See your drive manual to find out what parameter sets are supported

Value to write to the drive

Value to write: AddressSercos. This parameter is required if you are using the GetIDN function on the BusSercos axisID 999.

Error report. See ( WRITE_CMD Command:

Programming Errors, p. 304

)

250

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Drive Parameters: IDN_US and IDN_UP

Description These parameters are associated with units and scale factors.

They enable you to directly control the drives by the application (independently of the TSX CSY 84 module).

They can be divided into two categories: l l

IDN_US dits user standards (Standard SERCOS

), See ( Standard SERCOS

Identification Numbers (IDN), p. 253),

IDN_UP dits user owners (specific to drive constructors, see information on drives).

Note: This manufacturer information should specify: l l l whether the parameter has units, the SERCOS® loop phase in which the parameter is authorised, the legal values of the parameter,

The information in the drive manual on how the parameter is scaled and how the units are determined is not applicable in this case. The movement controller will convert the parameter using the information supplied by the drive.

Associated

Functions

The associated functions of this parameter are: l GetIDN_US and GetIDN_UP which send a read request of the current parameters with the identification numbers (IDN) SERCOS®) in the form of a floating point number which has been converted from drive units into default axis units.

l SetIDN_US and SetIDN_UP which send a write request of the new parameters with the SERCOS® identification numbers (IDN)) in the form of a floating point number expressed in default axis units for this parameter. The movement controller converts this data value from default axis units to the drive units and writes the converted value to the drive.

Note: (IDN) SERCOS®: S-0-xxxx (standard parameters) and P-0-xxxx (product specific parameters) respectively)

Note: These functions do not let you access SERCOS

parameters which do not have units or variable length text parameters.

TLX DS 57 PL7 xx

Note: These parameters can also be read/written by the Get/SetIDN_S or Get/

SetIDN_P functions, so it is necessary to watch the units that are used.

251

adjustment

These functions use the WRITE_CMD instruction.

Language objects

The table below presents the different language objects linked to the OpticalPower parameter.

Object

%MWxy.i.26

Name

ACTION_CMD

Functio n code

1558

2558

%MWxy.i.26

ACTION_CMD 1559

2559

%MFxy.i.22

RETURN_CMD_2 -

%MDxy.i.27

PARAM_CMD_1

%MFxy.i.31

PARAM_CMD_3

%MFxy.i.33

PARAM_CMD_4

%MWxy.i.19

ERROR_CMD

Instruction type

Description

WRITE_CMD Read request IDN_US

WRITE_CMD Write command IDN_US

WRITE_CMD Read request IDN_UP

WRITE_CMD Write command IDN_UP

Read report: Value (1) of the floating point parameter.

IDNSercos. Format type of 1 to 4095. However, use of the bits 12 to 14 is allowed. These bits indicate which parameter sets are being selected. (See your drive manual to find out what parameter sets are supported

AddressSercos. This parameter is required if you are using the GetIDN function on the BusSercos axisID 999.

Contents of the variable: Value (1) of the floating point parameter.

Error report. See ( WRITE_CMD Command:

Programming Errors, p. 304

)

Legend

(1) This value is expressed in default axis units for this type of parameter (e.g. units of position, speed, acceleration, torque and time),

252

TLX DS 57 PL7 xx

Standard SERCOS Identification Numbers (IDN)

Position

Parameters

The following table lists the IDNs for the position parameters:

IDN

S-0-0032

S-0-0053

S-0-0055

S-0-0116

S-0-0117

S-0-0121

S-0-0122

S-0-0123

S-0-0206

S-0-0207

S-0-0256

S-0-0257

Standard IDN Name

Primary operating mode

Position feedback value 2 (external feedback)

Position polarity parameter

Resolution of the rotational feedback 1

Resolution of the rotational feedback 2

Input revolutions of load gear

Output revolutions of load gear

Feed constant

Drive on delay time

Drive off delay time

Multiplication factor 1

Multiplication factor 2

Speed

Parameters

The following table lists the IDNs for the speed parameters:

IDN

S-0-0037

S-0-0040

Standard IDN Name

Additive velocity command value

Velocity feedback value

Torque/Motor

Parameters

The following table lists the IDNs for the torque/motor parameters:

IDN

S-0-0084

S-0-0092

S-0-0111

Standard IDN Name

Torque feedback value

Bipolar torque limit value

Motor continuous stall current adjustment

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253

adjustment

Limit Parameters The following table lists the IDNs for the limit parameters:

IDN

S-0-0038

S-0-0039

S-0-0049

S-0-0050

S-0-0091

S-0-0114

S-0-0136

S-0-0138

Standard IDN Name

Positive velocity limit value

Negative velocity limit value

Positive position limit value

Negative position limit value

Bipolar velocity limit value

Load limit of the motor

Positive acceleration limit

Bipolar acceleration limit value

Diagnostics

Scaling

Parameters

The following table lists the IDNs for diagnostics:

IDN

S-0-0011

S-0-0012

S-0-0013

S-0-0041

S-0-0042

S-0-0147

S-0-0148

S-0-0298

S-0-0400

S-0-0403

Standard IDN Name

Class 1 diagnostic (C1D)

Class 2 diagnostic (C2D)

Class 3 diagnostic (C3D)

Homing velocity

Homing acceleration

Homing parameter

Homing command by drive

Home switch distance

Home switch

Position feedback value status

The following table lists the IDNs for the scaling parameters:

IDN

S-0-0044

S-0-0086

S-0-0093

S-0-0094

S-0-0160

Standard IDN Name

Velocity data scaling type

Torque data scaling type

Torque/effort data scale factor

Torque/effort data scale exponent

Acceleration data scaling type

254

TLX DS 57 PL7 xx

Probe

Gains

Parameters

Drives, Drive

Backup and

Checksums adjustment

The following table lists the IDNs for the probe:

IDN

S-0-0130

S-0-0131

S-0-0169

S-0-0170

S-0-0179

Standard IDN Name

Probe value positive edge 1

Probe value negative edge 1

Probe control parameter

Probe cycle procedure command

Probe status

The following table lists the IDNs for the gains parameters:

IDN

S-0-0296

Standard IDN Name

Velocity feedforward gain

The following table lists the IDNs for drives, drive backup and checksums:

IDN

S-0-0192

S-0-0271

S-0-0263

S-0-0264

Standard IDN Name

IDN list of backup operation data

Drive ID

Load working memory procedure command

Backup working memory procedure command

TLX DS 57 PL7 xx

255

adjustment

IDNs for customized telegrams

Customized

Telegrams

The following table lists the IDNs for customized telegrams:

IDN

S-0-0016

S-0-0024

S-0-0130

S-0-0131

S-0-0037

S-0-0053

S-0-0084

S-0-0185

S-0-0187

S-0-0188

S-0-0186

Standard IDN Name

Configuration list of AT cyclic data

Configuration list of MDT

Probe 1 positive edge

Probe 1 negative edge

Additive velocity command

Position feedback value 2 (external encoder)

Torque feedback value

Length of the configurable data record in the AT

IDN list of configurable data in the AT

IDN list of configurable data in the MDT

Length of the configurable data record in the MDT

256

TLX DS 57 PL7 xx

Debugging the TSX CSY 84 module

Introduction

Aim of this chapter

What's in this

Chapter?

This chapter describes the debug functions of a SERCOS® channel.

This Chapter contains the following Maps:

Topic

Description of the Debug Screens of a SERCOS Module: General

Debug Screen User Interface

Debug: Enable

Debug: Diagnostics

Debug: Movement

Debug: Sending commands (Auto mode)

Debug: Manual command (Manual mode)

Debug: Reference

Debug: Following

Debug: Drive

Debug: Position

Diagnostics of the Module

Channel Diagnostics

Page

TLX DS 57 PL7 xx

257

Debugging the TSX CSY 84 Module

Description of the Debug Screens of a SERCOS Module: General

Introduction The different debug screens can be used, for all types of channels, to display the state of the inputs and outputs of a module channel as well as any faults.

It also enables you to command language objects (set to 1 or 0, forcing/unforcing a bit...)

These parameters are accessible in online mode.

It also gives access to the configuration and adjustment screens.

Note: For an introduction to the processes of configuring, adjusting and debugging an application, consult the section on Common application functions.

258

TLX DS 57 PL7 xx

Illustration

Debugging the TSX CSY 84 Module

The diagram below shows an example of a SERCOS module debug screen.

TSX CSY 84 [RACK0 POSITION 10]

Debug

Designation: MOD.CMD AXIS 8 CH N4

RUN ERR IO DIAG...

Symbol:

Channel:

1 real

Function:

Real axis

Configured channels: 0,1,9,10,13,14,17,21,22,26

Enable

Drives Axis

Enabled

Task:

MAST Auto

Manual

DIAG...

Diagnostics

Drives Axis

Acknowledgment Authorization acknowledgment

Communication Command

Error Phase 4 0

Enable

Warning

Disable

State

Configuration/parameterization

Not configured

Parameter No.

Error type

16#00 16#00

Movement

Speed transition

Constant speed

Stop in progress

End of movement

Referencing in progress

Axis OK

Referenced

In-position band

Stop in position

Limit high position

Limit low position

Pause in progress

Resuming

Paused

Belongs to a group

Stop commanded

Immediate stop commanded

Actual position 3.776550e-003

Manual command

JOG-

INCR INCR +

JOG+

Reference

Reference point

Forced reference point

Speed

Force position

Speed

Increment

1.000000e+003

0.000000e+000

1.000000e+003 Direction

Position 0.000000e+000

Immediate stop

Drive

Input 1

Input 2

Stop

Output 1

Output 2

TLX DS 57 PL7 xx

259

Debugging the TSX CSY 84 Module

Description

Number

The table below shows the different elements of the adjustment screen and their functions.

Element

Title bar

Function

Recalls the reference of the module selected and its physical position in the rack.

Command zone

Indicates the screen in progress (Debug) and allows access or return to other screens: l l

Configuration, only accessible in offline mode

Adjustment.

Module zone Displays the designation of the module selected.

Displays indicator lamp status RUN, ERR, I/O

Creates direct access to the module diagnostics when it is faulty (indicated by the indicator lamp built into the diagnostics access button DIAG, which turns red).

Channel zone Allows you to choose the channel to be adjusted and to modify (if several to choose from) the function associated with the channel,

Indicates the task in which the channel is configured,

Allows you to access manual mode (real and imaginary axes),

Provides direct access to the diagnostics of the channel when it is faulty

Debug zone This zone displays the state of the inputs, outputs and different parameters in progress.

It can also be used to control axis movements in manual mode.

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Debug Screen User Interface

Introduction

Command buttons

The debug screen provides access to the state of the input and output bits through

LEDs.

It also enables you to command language objects (%Q) using command buttons

Note: Position the mouse cursor over the required LED/button to view the corresponding language object.

The debug screen also enables you to modify and send movement commands.

The table below shows the different possible aspects of command buttons.

Command Function

The bit associated with this bit is in position 0. A left click will move the bit to position 1.

The bit associated with this bit is in position 1. A left click will move the bit to position 0.

( 1 )

Forcing to 0 F4

Forcing to 1 F5

Unforcing F6

( 2 )

( 3 )

When an object can be forced, a right click on the corresponding button (1) will display a menu (2) which provides access to the force commands: Force to 0, Force to 1 or Unforcing.

Once a command has been selected by clicking on it, the forcing is applied and the forcing state is indicated at the level of the button

(3): l l

F for forcing to 0,

F in inverse video (in the example) for forcing to 1.

Note: When a language object is forced, the left mouse button is inoperative

This button is associated with the error bits currently in position 0.

This button is associated with the error bits currently in position 1.

Left click on this to view the information about the fault.

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Debug: Enable

Introduction This field is used to enable or disable an axis. In order to be effective an axis must be enabled at module level and at drive level.

Note: This field concerns real, imaginary and remote axes, as well as groups of coordinated and slave axes.

Illustration The illustration below shows the Enable field of the debug screen.

Enable

Drives Group

Enabled

Enabling

Disabling

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Description

Debugging the TSX CSY 84 Module

The table below describes the different Drive zone elements of the Enable field.

Element

LED Enabled

Button Enable

Button Disable

Associated language object

Description

See

DRIVE_ENABLED bit (%Ixy.i.10), p. 110 .

%Qxy.i.10

%Qxy.i.26

Enabling the axis at drive level.

Disabling the axis at drive level.

The table below describes the different Axis zone elements of the Enable field.

Element Description Associated language object

LED Enabled

Button Enable

Button Disable

%Qxy.i.2

%Qxy.i.18

See

AXIS_IN_COMMAND bit (%Ixy.i.18), p. 118

Enabling the axis at axis level.

Disabling the axis at axis level.

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Debugging the TSX CSY 84 Module

Debug: Diagnostics

Introduction This field is used to view and acknowledge the axis faults.

Note: This field is concerned with the different types of axes, groups of axes and cam profiles.

Illustration The illustration below shows the Diagnostics field of the debug screen.

Diagnostic

Acknowledgement Authorisation acknowledgement

Drive Axis

Error

Communication

Phase 4

Command

Warning

Status

Configuration/parameterization

Parameter N°

16#FF

Not configured

Error type

16#FF

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Description

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Debugging the TSX CSY 84 Module

The table below describes the different elements outside the Diagnostics field zone.

These elements are not available in the Cam profile screen.

Element Description

Button Acknowledgement

Button Authorisation acknowledgement

Associated language object

%Qxy.i.15

%Qxy.i.31

Fault acknowledgement

Confirm faults

The table below describes the different Drive zone elements of the Diagnostics field.

These elements are not available in the Cam profile screen.

Element

LED Error

Button Error

LED Warning

Button Warning

LED Status

Button Status

Description

See

DRIVE_FAULT bit (%Ixy.i.13), p. 113 .

(1)

See

(1)

See

DRIVE_DIAG bit (%Ixy.i.11), p. 111 .

(1)

DRIVE_WARNING bit (%Ixy.i.12), p. 112

(1) : When the LED is on, a left click on the button will open a window displaying the type of fault.

The table below describes the different Axis zone elements of the Diagnostics field.

This zone does not exist in the Cam profile screen.

Element

LED Error

Button Error

LED Warning

Button Warning

Description

See

AXIS_SUMMARY_FAULT bit (%Ixy.i.15), p. 115

(1),

Note: The drive fault data is not to be taken into account if there is a SERCOS® communication error.

See

(1)

AXIS_WARNING bit (%Ixy.i.23), p. 122 .

(1) : When the LED is on, a left click on the button will open a window displaying the type of fault.

The table below describes the different elements of the Communication zone of the

Diagnostics field. This zone does not exist or is unavailable in the Cam profile screen and imaginary axis.

Element Description

LED Phase 4

Associated language object

%Ixy.i.16

See

AXIS_COMM_OK bit (%Ixy.i.16), p. 116 .

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Debugging the TSX CSY 84 Module

The table below describes the different Command zone elements of the Diagnostics field.

Element

LED

Field

Associated language object

%MWxy.i.1:X2

%MWxy.i.19

Description

Faulty explicit command (Action_CMD).

Possible values:

0 : Ok parameters

Otherwise an error code Seewrite_cmd:programming errors command chapter (See WRITE_CMD Command:

Programming Errors, p. 304 )

The table below describes the different Configuration/ Parameterization zone elements of the Diagnostics field.

Element

LED Not configured

Field N° parameter

Field Error type

Associated language object

%Ixy.i.32

%IW2xy.i.:X0 to X7

%IW2xy.i.:X8 to X15

Description

The channel is configured.

Indicates the faulty parameter. See faulty registers chapter (See Faulty

Registers, p. 299 )

Indicates the type of error. See (See

List of Configuration and Adjustment

Errors, p. 297 )

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Debug: Movement

Introduction This field is used to view module status bits and to control the movement of the selected axis.

Note: It is concerned with real or imaginary axes as well as with groups of coordinated axes.

Illustration The illustration below shows the Movement field of the debug screen.

Movement

Speed transition

Constant speed

Stop in progress

End of movement

Referencing in progress

Axis OK

Referenced

In-position band

Stop in postition

Limit high position

Limit low position

Pause in progress

Resume in progree

Paused

Belongs to a group

Stop commanded

Immediate stop commanded

Actual position 0.000000e+000 mm

Resume Pause Immediate stop Stop

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Description

Element

LED Speed transition

LED Constant speed

LED Stop in progress

LED End of movement

LED Referencing in progress

LED Axe OK (unitary axis only)

LED Referenced (unitary axis only )

LED In-position band

LED Stop in position

LED High limit position

LED Low limit position

LED Pause in progress

LED Resume in progress

LED Pause done

LED Stop commanded

LED Immediate stop commanded

LED Belongs to a group (unitary axis only)

Button Resume

Button Pause

LED Immediate stop

LED Stop

Field Current position (unitary axis only )

The table below describes the different elements of the Movement field.

Associated language object

Description

See

Bit RAMPING (%Ixy.i.0), p. 100 .

See

STEADY Bit (%Ixy.i.1), p. 101 .

See

STOPPING Bit (%Ixy.i.2), p. 102 .

See

PROFILE_END Bit (%Ixy.i.3), p. 103

See

AXIS_HOMING bit (%Ixy.i.5), p. 105 .

See

AXIS_READY bit (%Ixy.i.31), p. 130 .

See

AXIS_HOMED bit (%Ixy.i.6), p. 106

See

IN_POSITION Bit (%Ixy.i.4), p. 104 .

See

AXIS_AT_TARGET bit (%Ixy.i.20), p. 119 .

See

AXIS_POS_LIMIT bit (%Ixy.i.21), p. 120 .

See

AXIS_NEG_LIMIT bit (%Ixy.i.22), p. 121

See

HOLDING bit (%Ixy.i.8), p. 108

See

RESUMING bit (%Ixy.i.9), p. 109

See

AXIS_HOLD bit (%Ixy.i.28), p. 127

See

AXIS_HALT bit (%Ixy.i.29), p. 128 .

See

AXIS_FASTSTOP bit (%Ixy.i.30), p. 129

See

AXIS_IS_LINKED bit (%Ixy.i.17), p. 117 .

%Qxy.i.12

%Qxy.i.28

%Qxy.i.30

%Qxy.i.29

%IFxy.i.0

Resumes control after a stop.

Temporary axis stop.

Urgent stop command.

Stop axis.

Value of current position.

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Debug: Sending commands (Auto mode)

Introduction

Illustration

This field, which is specific to Auto mode, is used to launch a movement command using explicit exchanges.

The illustration below shows the Send command field of the debug screen.

Send command

Code 0 Command in progress

1° parameter

2° parameter

3° parameter

4° parameter

0.000000e+000

Feedback 1

Feedback 2

Feedback 3

0.000000e+000

SEND COMMAND

Description

Element

Return N fields

Command button

The table below describes the different elements of the Send command field.

Code field

Command in progress LED

Parameter fields

Associated language object

%MWxy.i.26

%MWxy.i.0:X1

Description

Function code

(See

Monitoring the exchange, p. 325 )

%MWxy.i.27 to 33 (1)

%MWxy.i.27 to 44 (2)

Function parameters

Results of the command %MDxy.i.20

%MFxy.i.22

%MFxy.i.24

Explicit exchange via WRITE_CMD.

Note: Consult the documentation corresponding to the desired function for more information.

(1) : Real axes, imaginary axes and groups of slave axes.

(2) : Co-ordinated axis groups

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Debug: Manual command (Manual mode)

Introduction This field, which is specific to manual mode, is used to launch a continuous (JOG) or incremental (INC) movement command.

Note: It is concerned with real and imaginary axes.

Illustration The illustration below shows the Manual Command field of the debug screen.

Manual command

JOGJOG+

INCR INCR +

Speed

Increment

1.000000e+003

0.000000e+000

Description

Element

JOG+

JOG-

INC+

INC-

Speed

Increment

The table below describes the different elements of the Manual command field.

Associated language object

%Qxy.i.4

Description

%Qxy.i.5

%Qxy.i.13

%Qxy.i.14

%QDxy.i

See

Manual mode, p. 140

The button associated with this command is a push button.

See

Manual mode, p. 140

The button associated with this command is a push button.

See

Manual mode, p. 140

See

Manual mode, p. 140

value configured by default (1/2 of Smax). This can be modified. This one can be modified either by the screen or by the command SetDefaultSpeed

(2065) via PARAM_CMD_3.

desired increment value.

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Debug: Reference

Introduction

Illustration

This field, which is specific to manual mode, can be used to reference an axis to a given position deemed to be "Home".

The illustration below shows the Reference field of the debug screen.

Reference

Reference point

Forced reference point

Force position

Speed 1.000000e+003

Position 0.000000e+000

Direction

Description The table below describes the different elements of the Reference field.

Element

Reference point

Speed

Direction

Forced reference point

Force position

Position

Description

Sets a homing reference point (see Home

Function, p. 143 ).

Movement speed used to reach home.

Direction of rotation (positive or negative) used to reach home

The position of the axis becomes the homing point

(see

ForcedHomed Function, p. 146 ).

Modifies the homing point without referencing axis to that point (see

SetPosition Function, p. 148 ).

Home position forcing value.

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Debug: Following

Introduction This field is used to activate or deactivate the following of slave axes.

Note: This field is concerned with real and imaginary axes.

Illustration The illustration below shows the Following field of the debug screen.

Following

Bias activated Following

Stop following

Description

Element

LED Bias activated

Button Follow

Button Stop follow

The table below describes the different elements of the Following field.

Description Associated language object

%Ixy.i.24

%Qxy.i.11

%Qxy.i.27

Offset added to the command position

Control Bits Modifiable on Change of State,

p. 137

MovementControl Bits Modifiable on Edge,

p. 135

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Debug: Drive

Introduction This field is used to control drive inputs and outputs. These inputs/outputs are defined by the user.

Note: This field only exists in the Real axis screen.

Illustration The illustration below shows the Drive field of the debug screen.

Drive

Input 1

Input 2

Ouput 1

Ouput 2

Description

Element

LED Input 1

LED Input 2

Button Output 1

Button Output2

The table below describes the different elements of the Drive field.

Associated language object

%I26

Description

%I27

%Q6

%Q7

See DRIVE_REALTIME_BIT1 bit (%Ixy.i.26),

p. 125

See DRIVE_REALTIME_BIT2 bit (%Ixy.i.27),

p. 126

Drive command

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Debug: Position

Introduction This field is used to view the position of an external axis from the application.

Note: This field only exists in the Remote axis screen.

Illustration The illustration below shows the Position field of the debug screen.

Position

Current

Commanded

0.000000e+000

0.000000e+000 mm mm

Description

Element

Field Current

Field Commanded

The table below describes the different elements of the Position field.

Description Associated language object

%IF0

%QD0

Value of current position.

Value defined by the application.

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Diagnostics of the Module

Introduction

Procedure

The Diagnostic function module displays the current faults, if any exist, classified l l l according to their category: internal errors (broken modules, self-test in progress), external errors (terminal block fault), other errors (configuration error, module missing or no power, faulty channel(s)

(details in channel diagnostics).

A faulty module is shown by certain LEDs turning red, e.g.: l l l l in the configuration level rack editor: l the LED of the module position, in the configuration level module editor: the Err and I/O LEDs according to the type of fault, the Diag LED.

The table below introduces the procedure for accessing the Diagnostic module screen.

Step

Action

Access the debug module screen.

Click on the Diag button located in the zone module.

Result: The list of module faults appears.

Diagnostic Module

Internal errors External errors Other errors

Faulty channel(s)

Note: If there is a configuration fault, a major breakdown or a missing module, access to the diagnostic module screen is not possible. The following message will then appear on the screen: The module is missing or different to the one configured in this position .

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Channel Diagnostics

Introduction

Procedure

The Diagnostic function channel displays the current faults, if any exist, classified according to their category: l l internal faults (broken channels), external faults (faulty link or sensor supply), l other faults (terminal block fault, configuration fault, communication fault).

A faulty channel is shown by the Diag LED, located in the Err column of the configuration editor, turning red.

The table below introduces the procedure for accessing the Diagnostic channel screen.

Step

Action

Access the debug module screen.

Click on the Diag button located in the Err column for the channel fault.

Result: The list of channel faults appears.

Channel Diagnostics

Internal errors External errors

External supply

Other errors

Note: Diagnostic information about the channel can also be accessed by program (instruction READ_STS).

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At a glance

Subject of this chapter

What's in this

Chapter?

This chapter describes the various diagnostic functions, gives the list of errors generated by the axis control module and describes the status bits.

This Chapter contains the following Sections:

Section

9.1

9.2

9.3

9.4

9.5

Topic

SERCOS® Phase Diagnostics Introduction

Reading Actual Data for the Ring Introduction

Axis Identification

Status and default information

Faults and Warnings

Page

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9.1 SERCOS® Phase Diagnostics Introduction

At a glance

Aim of this subchapter

What's in this

Section?

This section describes the diagnostics parameter functions for the SERCOS® phase.

This Section contains the following Maps:

Topic

About SERCOS® Phases Standard

GetActualPhase Function

GetCommandedPhase Function

Page

279

280

281

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About SERCOS® Phases Standard

Standard IEC

1491

SERCOS® phases

The IEC 1491 Standard (the SERCOS®-based international servo drive communications protocol standard) defines the following five phases of communicating with a SERCOS® drive.

The following table defines the phases:

Phase

Meaning

The loop is not communicating.

The controller is finding the drives which are on the loop.

The SERCOS® loop timing parameters are exchanged with the drives.

The service channels to the drives are functioning and all timing parameters are being used. The GetIDN and SetIDN functions are ready for operation.

The motion controller is sending cyclic communication information to the drives.

The loop is up and motion commands are allowed.

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GetActualPhase Function

Description This function returns the actual SERCOS® phase of the loop.

How to Use this

Function

This function is implemented with the help of the WRITE_CMD instruction (see

WRITE_CMD, p. 324).

Associated

Language

Objects

Exchange via WRITE_CMD:The table below presents the different language objects linked to this function.

Description Object Name Function code

%MWxy.i.26

ACTION_CMD

%MDxy.i.20

RETURN_CMD_1

550

%MWxy.i.19

ERROR_CMD -

Command

Result of the command

Error report. See WRITE_CMD

Command: Programming Errors,

p. 304

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GetCommandedPhase Function

Description The GetCommandedPhase function returns the SERCOS® loop phase that the movement controller is trying to establish.

Note: Use the GetActualPhase function to determine the current loop phase.

The SetCommandedPhase function requests the movement controller to change the SERCOS® loop to the specified phase.

The SERCOS® phase must always switch phases in an increasing manner. If the

SetCommandedPhase value is lower than the present loop phase, the movement controller will switch the phase to phase 0 and sequence the loop up to the specified phase. If the loop is at phase 4, and a lower phase is commanded, the movement axes will fault.

Note: The movement controller can only progress to the next SERCOS® phase if all the drives on the loop allow a switch to the next phase. Therefore, it is possible that the commanded phase might never be achieved. Use the

GetCommandedPhase function to find out which phase was commanded, and use the GetActualPhase function to discover the actual phase of the SERCOS® loop.

How to Use these

Functions

These functions are implemented with the help of the WRITE_CMD instruction (see

WRITE_CMD, p. 324).

Associated

Language

Objects

Exchange via WRITE_CMD:The table below presents the different language objects linked to these functions.

Description Object

%MWxy.i.26

Name

ACTION_CMD

%MDxy.i.20

%MDxy.i.27

RETURN_CMD_1

PARAM_CMD_1

%MWxy.i.19

ERROR_CMD

Function code

1545

2545

Read command

Write command

Result of the read command

Value to write)

Error report. See WRITE_CMD

Command: Programming Errors,

p. 304 .

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Diagnostics and Maintenance

9.2 Reading Actual Data for the Ring Introduction

At a glance

Aim of this subchapter

What's in this

Section?

This section describes the functions for reading actual data for the ring (SERCOS® address, number of drives, etc).

This Section contains the following Maps:

Topic

GetSercosAddress Function

GetNumberOfDrivesInRing function

IsLoopUp function

Page

283

284

285

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GetSercosAddress Function

Description This function returns the SERCOS® address for this axis.

Note: This function only exists for real axes and remote axes.

Note: The SERCOS® address of an axis is also available in constant word

%KWxy.i.0 for the corresponding channel.

How to Use this

Function

This function is implemented with the help of the WRITE_CMD instruction (see

WRITE_CMD, p. 324).

Associated

Language

Objects

Exchange via WRITE_CMD:The table below presents the different language objects linked to this function.

Description Object Name Function code

%MWxy.i.26

ACTION_CMD

%MDxy.i.20

RETURN_CMD_1

549

%MDxy.i.27

PARAM_CMD_1

%MWxy.i.19

ERROR_CMD

Command

Result of the command (1)

Value to write (2)

Error report. See WRITE_CMD

Command: Programming Errors,

p. 304 .

Legend

(1) If Address = 25350: no axis configured at this address or invalid address.

(2) : This value corresponds to the index of the table of real axes present in the loop (0

= 1st axis, 1 = 2nd axis, etc.). This parameter is not necessary if the function is issued on the channel corresponding to the axis for which the address is requested.

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GetNumberOfDrivesInRing function

Description This function returns the number of axes in the fiber-optic SERCOS® network ring.

How to Use this

Function

This function is implemented with the help of the WRITE_CMD instruction (see

WRITE_CMD, p. 324).

Associated

Language

Objects

Exchange via WRITE_CMD:The table below presents the different language objects linked to this function.

Description Object Name Function code

%MWxy.i.26

ACTION_CMD

%MDxy.i.20

RETURN_CMD_1

548

%MWxy.i.19

ERROR_CMD -

Command

Result of the command

Error report. See WRITE_CMD

Command: Programming Errors,

p. 304

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IsLoopUp function

Description This function signals whether the SERCOS® network ring (SERCOS® ring) is ready to communicate with the movement controller and if it is in phase 4.

Possible values are: l l

1 = (TRUE) if the loop is in "top" status (active communication),

0 = (FALSE) if the loop is "low" (phase 4 communication not established).

Use the GetActualPhase function to determine the current loop phase.

How to Use this

Function

This function is implemented with the help of the WRITE_CMD instruction (see

WRITE_CMD, p. 324).

Associated

Language

Objects

The table below presents the different language objects linked to this function.

Object Name Function code

%MWxy.i.26

ACTION_CMD

%MDxy.i.20

RETURN_CMD_1

543

%MWxy.i.19

ERROR_CMD -

Description

Command

Result of the command

Error report. See WRITE_CMD

Command: Programming Errors,

p. 304 .

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9.3 Axis Identification

GetNumberInSet Function

Description This function transfers the number of axes contained in a group in the following way: l SERCOS® function: The function transfers the total number of real axes, imaginary axes, remote axes, co-ordinated axis groups and slave axis groups l configured in the application,

Co-ordinated and slave axis group: The function transfers the number of l independent axes contained in the group,

Real, imaginary and remote axis: The function transfers the value 1, which means that the axis is independent.

How to Use this

Function

This function is implemented with the help of the WRITE_CMD instruction (see

WRITE_CMD, p. 324).

Associated

Language

Objects

The table below presents the different language objects linked to this function.

Object Name Description

%MWxy.i.26

ACTION_CMD

%MDxy.i.20

PARAM_CMD_1

%MWxy.i.19

ERROR_CMD

Function code

541

Command

Result of the command

Error report. See WRITE_CMD

Command: Programming Errors,

p. 304

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9.4 Status and default information

At a glance

Subject of this chapter

What's in this

Section?

This section describes the read functions of the default and status information.

This Section contains the following Maps:

Topic

Implicit Exchange Objects

Faults Accessible via the GetMotionFault Command

GetMotionFault Function

Faults Accessible via the GetMotionWarning Command

GetMotionWarning Function

Page

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Diagnostics and Maintenance

Implicit Exchange Objects

Faulty Module

Faulty channel

The %Ixy.MOD.ERR bit at status 1 indicates that the module situated in position xy is faulty. The causes of the fault are given in the %MWxy.MOD.2 internal word.

The bit %Ixy.i.ERR at status 1 indicates that i channel of the module situated in position xy is faulty. The causes of the fault are given in the %MWxy.i.2 internal word.

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Faults Accessible via the GetMotionFault Command

Description

Motion Faults

The MotionFault data indicates the type of error that caused

AXIS_SUMMARY_FAULT status in the MotionStatus word of an axis. This type of error is recorded by setting a bit in the MotionFault word, one unique bit per type of error. Multiple different errors set their corresponding bits in the MotionFault word.

Multiple errors of the same type set the same bit so the MotionFault word does not indicate how many errors of the same kind have occurred. Issuing a ClearFault function to a motion axis clears the MotionFault word.

The following table lists the motion faults contained in the MotionFault data type:

Name

MF_MOVE_BUT_NOT_

ENABLED

MF_SERCOS_RATE_TO

O_FAST

MF_CONTROL_

CONFLICT

MF_DRIVE_FAULT

Bit

Description

A move command has reached the motion interpolator but the drive is disabled. This should only occur if the drive becomes disabled as a move command is starting.

Too many channels are configured relative to chosen cycle time.

Conflicting control with configuration drive tool.

MF_REQUESTED_FAULT 15

MF_COMM_FAULT 16

MF_AXIS_LIMIT_FAULT 21

A drive fault has occurred. Use the GetIDN_S_ and

GetIDN_P function with the SERCOS® Standard IDN

S-0-0011 parameter to determine the cause.

The MotionControl ALLOW_NOT_FAULT bit is not set. The axis remains faulty until the

ALLOW_NOT_FAULT bit is set and a ClearFault function is issued.

The SERCOS® communication fiber-optic loop has lost communication to the drive.

The axis has reached a positive or negative software position limit.

Configuration problem phase 3 MF_PHASE3_CONFIG_

PROBLEM

MF_PHASE0_SERCOS_

ERROR

MF_PHASE0_SERCOS_

ERROR

MF_PHASE0_SERCOS_

ERROR

Phase 0 error.

Phase 1 error.

Phase 2 error.

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Name

MF_PHASE0_SERCOS_

ERROR

Bit

MF_PHASE0_SERCOS_

ERROR

MF_MOVE_WHILE_ HALT 29

Description

Phase 3 error.

Phase 4 error.

A move command has reached the interpolator but the MotionControl ALLOW_MOVE bit is not set to 1.

This should only happen if the drive is stopped at the exact moment when a move command starts.

Drive Fault Drive fault data (MF_DRIVE_FAULT) is not to be taken into account if there is also a SERCOS® communication error (MF_COMM_FAULT). In fact, changing to phase

3 triggers a communication error, even though communication is still possible.

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GetMotionFault Function

Description This function transfers the MovementFault information concerning an axis. The

MovementFault word resets to zero by means of the ClearFault function sent to an axis.

How to Use this

Function

This function is implemented with the help of the WRITE_CMD instruction (see

WRITE_CMD, p. 324).

Associated

Language

Objects

The table below presents the different language objects linked to this function.

Description Object Name Function code

%MWxy.i.26

ACTION_CMD

%MDxy.i.20

RETURN_CMD_1

5510

%MWxy.i.19

ERROR_CMD -

Command

Result of the command

Error report. See WRITE_CMD

Command: Programming Errors,

p. 304 .

TLX DS 57 PL7 xx

291

Diagnostics and Maintenance

Faults Accessible via the GetMotionWarning Command

Description MotionWarnings are generated by the motion controller when a motion command is issued to a MotionSet via the MotionControl registers, and that command is not allowed at the current time. The MotionWarning data type information records these warnings.

The warnings are recorded by setting a bit in the MotionWarning register, one unique bit per type of warning. Multiple warnings of different kinds set their corresponding bits in the MotionWarning word. Multiple warnings of the same type set the same bit so the MotionWarning word does not indicate how many warnings of the same kind have occurred. Issuing a ClearFault function to the axis resets the

MotionWarning word to zero. Use the GetMotionWarning function to read the

MotionWarnings.

Motion Warnings The following table lists the motion warnings contained in the MotionWarning data type:

Name Description

MW_AXIS_IS_LINKED The motion control command was not performed because the motion axis is a member of a CoordinatedGroup or SlaveGroup.

For a

Coordinated

Group

The following table lists the motion warnings contained in the MotionWarning data type for a CoordinatedGroup:

Name Description

MW_AXIS_IS_MOVING The motion control command was not performed because the motion axis was moving.

MW_ACQUIRE_

DISALLOWED

MW_CANNOT_

ENABLE

The CoordinatedGroup or SlaveGroup could not acquire control of its members because one or more of the motion axis members is already a member of a CoordinatedGroup or SlaveGroup.

The drive will refuse confirmation.

292

TLX DS 57 PL7 xx

Diagnostics and Maintenance

GetMotionWarning Function

Description

How to Use this

Function

This function is implemented with the help of the WRITE_CMD instruction (see

WRITE_CMD, p. 324).

Associated

Language

Objects

This function transfers the MovementWarning bits concerning a movement axis.

These bits give warnings. These are prefixed by MW_.

The table below presents the different language objects linked to this function.

Object Name Function code

%MWxy.i.26

ACTION_CMD

%MDxy.i.20

RETURN_CMD_1

5511

%MWxy.i.19

ERROR_CMD -

Description

Command

Result of the command

Error report. See WRITE_CMD

Command: Programming Errors,

p. 304 .

TLX DS 57 PL7 xx

293

Diagnostics and Maintenance

9.5 Faults and Warnings

At a Glance

Title of this

Section

What's in this

Section?

This section shows the list of faults and warnings that can be accessed by explicit reading.

This Section contains the following Maps:

Topic

Module faults which can be accessed by explicit reading

Channel faults accessible via explicit reading

List of Configuration and Adjustment Errors

Faulty Registers

List of Error Codes for a WRITE_CMD Command

WRITE_CMD Command: Programming Errors

WRITE_CMD Command: Communication errors

WRITE_CMD Command: System errors

WRITE_CMD Command: System warnings

TRF_RECIPE Command Explicit Writing Faults

Operating modes for the TSX CSY 84 module

Logic diagrams of faults

Drive faults

Page

294

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Diagnostics and Maintenance

Module faults which can be accessed by explicit reading

Introduction

List of faults

Word %MWxy.MOD.2 indicates any fault on the module in position xy.

Bits %MWxy.MOD.2:X0 to %MWxy.MOD.2:X15 are used to diagnose the module faults:

Bit

7 to 15

Meaning

Internal fault: module inoperative

Functional fault: external fault, communication fault or application fault (see the channel status word %MWxy.i.2)

Terminal block fault

Module performing self-tests

Reserved

Configuration fault: hardware and software configuration different

Module missing or off

Reserved

TLX DS 57 PL7 xx

295

Diagnostics and Maintenance

Channel faults accessible via explicit reading

Introduction

List of faults

Word %MWxy.i.2 indicates any fault on channel i of the module in position xy.

Bits %MWxy.i.2:X0 to %MWxy.i.2:X15 are used to diagnose the channel faults:

Bit

Meaning

External fault 0: drive fault

External fault 1: communication fault with the axis

Reserved

External fault 2

Internal fault

Configuration fault: hardware and software configuration different

Communication fault

Application fault: configuration, adjustment or command fault

Fan fault (channel 0 only)

Overtemperature (channel 0 only)

Temperature sensor fault (channel 0 only)

Creation of move in progress object

Configuration fault (except for channel 0)

Reserved

Channel LED status: steady

Channel LED status: flashing

296

TLX DS 57 PL7 xx

Diagnostics and Maintenance

List of Configuration and Adjustment Errors

Introduction

List of Faults

TLX DS 57 PL7 xx

Word %IWxy.i.2 indicates a possible programming fault.

l l

The least significant byte (LSB) contains the return code of the error type,

The most significant byte (MSB) contains the address in the registers of the field which caused the error.

The following table gives the content of the LSB (error code, in hexadecimal), the name and the description of the fault:

Error code

Description

Attempt to assign value out of range

Attempt to assign incompatible units

Unit not supported or unknown

Drive fault while uploading

Drive fault while downloading

Unexpected empty pointer to object

Failed to set units in drive

Units not set

String too large for MovementString

Invalid index in a group

Incorrect value in command

Incorrect value in a sequence

Invalid token in input

Invalid feedback channel for command

Invalid feedback peripheral for a command

Invalid feedback clocking frequency

Invalid feedback supply

Invalid feedback resolution

Invalid holding register address

Holding register database not configured

Holding register database empty

Holding register block too big

Holding register block does not correspond to the database

Cannot grant access to holding register block

Cannot release access to holding register block

File open failed

297

Diagnostics and Maintenance

Error code

Description

File write failed

File read failed

File closure failed

File search failed

Malformed input error

Clear fault function failed

Missing tag in tags.cfg

No axis object available

Too many axes in configuration

Duplicate axes in configuration

Missing or invalid axis

Axis object or configuration file cannot be found

Value has different number of co-ordinates from axis

Movement axis is not actived

A movement fault has occurred on the movement controller

Drive is not activated

Command timed out

Only one SERCOS® bus may be configured

Axis rename failed

Cannot perform command in current configuration

Object is wrong type

Drive must be deactivated to perform command

Drive must be activated to perform command

Command not allowed at this time

Command cannot be executed due to drive fault

298

TLX DS 57 PL7 xx

Diagnostics and Maintenance

Faulty Registers

Faulty Register in the Case of the

SERCOS®

Channel

The following table gives the content of the MSB (error code, in hexadecimal), and the faulty register, in the case of channel 0:

Error code

Register

REG_VERSION_AXE

REG_ID_AXE

REG_BITS_CONFIGURATION

REG_NOMBRE_AXES

REG_TEMPS_CYCLE

REG_DEBIT

REG_PUISSANCE_OPTIQUE

REG_MEMBRE_S1

Faulty Register in the Case of an

Individual Axis

The following table gives the content of the MSB (error code, in hexadecimal), and the faulty register, in the case of an individual axis:

Error code

Register

REG_VERSION_AXE

REG_ID_AXE

REG_BITS_CONFIGURATION

REG_ADRESSE_SERCOS

REG_ACCELERATION

REG_DECELERATION

REG_TYPE_ACCELERATION

REG_FENETRE_AU_POINT

REG_FENETRE_DE_CONTROLE

REG_MODULO_MAX

REG_MODULO_MIN

REG_ACCELERATION_MAX

REG_DECELERATION_MAX

REG_VITESSE_MAX

REG_POSITION_MAX

REG_POSITION_MIN

REG_NUMERATEUR_FACTEUR_ECHELLE

TLX DS 57 PL7 xx

299

Diagnostics and Maintenance

Error code

Register

REG_DENOMINATEUR_FACTEUR_ECHELLE

REG_UNITES_ACCELERATION

REG_UNITES_VITESSE

REG_UNITES_POSITION

REG_RETOUR_RA

Faulty Register in the Case of a

Group of Coordinated Axes

The following table gives the content of the MSB (error code, in hexadecimal), and the faulty register, in the case of a group of co-ordinated axes:

Error code

Register

REG_VERSION_AXE

REG_ID_AXE

REG_BITS_CONFIGURATION

REG_NOMBRE_MEMBRES

REG_MEMBRE_C1

REG_MEMBRE_C2

REG_MEMBRE_C3

REG_MEMBRE_C4

REG_MEMBRE_C5

REG_MEMBRE_C6

REG_MEMBRE_C7

REG_MEMBRE_C8

REG_ACCELERATION

REG_DECELERATION

REG_TYPE_ACCELERATION

REG_ACCELERATION_MAX

REG_DECELERATION_MAX

REG_VITESSE_MAX

REG_UNITES_ACCELERATION

REG_UNITES_VITESSE

300

TLX DS 57 PL7 xx

Diagnostics and Maintenance

Faulty Register in the Case of a

Group of Slave

Axes

The following table gives the content of the MSB (error code, in hexadecimal), and the faulty register, in the case of a group of slave axes:

Error code

Register

REG_VERSION_AXE

REG_ID_AXE

REG_BITS_CONFIGURATION

REG_NOMBRE_MEMBRES

REG_ID_MAITRE

REG_MEMBRE_S1

REG_MODE_SUIVEUR_S1

REG_CAME_OU_NUMERATEUR_S1

REG_OFFSET_OU_DENOMINATEUR_S1

REG_TRIGGER_S1

REG_MEMBRE_S2

REG_MODE_SUIVEUR_S2

REG_CAME_OU_NUMERATEUR_S2

REG_OFFSET_OU_DENOMINATEUR_S2

REG_TRIGGER_S2

REG_MEMBRE_S3

REG_MODE_SUIVEUR_S3

REG_CAME_OU_NUMERATEUR_S3

REG_OFFSET_OU_DENOMINATEUR_S3

REG_TRIGGER_S3

REG_MEMBRE_S4

REG_MODE_SUIVEUR_S4

REG_CAME_OU_NUMERATEUR_S4

REG_OFFSET_OU_DENOMINATEUR_S4

REG_TRIGGER_S4

REG_MEMBRE_S5

REG_MODE_SUIVEUR_S5

REG_CAME_OU_NUMERATEUR_S5

REG_OFFSET_OU_DENOMINATEUR_S5

REG_TRIGGER_S5

REG_MEMBRE_S6

REG_MODE_SUIVEUR_S6

TLX DS 57 PL7 xx

301

Diagnostics and Maintenance

Error code

Register

REG_CAME_OU_NUMERATEUR_S6

REG_OFFSET_OU_DENOMINATEUR_S6

REG_TRIGGER_S6

REG_MEMBRE_S7

REG_MODE_SUIVEUR_S7

REG_CAME_OU_NUMERATEUR_S7

REG_OFFSET_OU_DENOMINATEUR_S7

REG_TRIGGER_S7

REG_MEMBRE_S8

REG_MODE_SUIVEUR_S8

REG_CAME_OU_NUMERATEUR_S8

REG_OFFSET_OU_DENOMINATEUR_S8

REG_TRIGGER_S8

302

TLX DS 57 PL7 xx

Diagnostics and Maintenance

List of Error Codes for a WRITE_CMD Command

Introduction The %MWxy.i.19 word signals a possible error while explicitly writing a

WRITE_CMD command.

Three types of error are generated by the axis control module: l the programming errors (See WRITE_CMD Command: Programming Errors, l

p. 304),

the communication errors (See WRITE_CMD Command: Communication errors, l

p. 306),

the system errors (See

WRITE_CMD Command: System errors, p. 307).

TLX DS 57 PL7 xx

303

Diagnostics and Maintenance

WRITE_CMD Command: Programming Errors

List of

Programming

Errors

304

The following table lists the error codes, names, and descriptions of programming errors. Error codes 1 to 999 are reserved for this type of error.

Error code

Description

Attempt to assign value out of range

Attempt to assign incompatible units

Unit not supported or unknown

Drive fault during download

Drive fault during upload

Unexpected empty pointer to object

Failed to set units in drive

Units not set

String too large for MovementString

Invalid index in a collection

Incorrect value in command

Incorrect value in a sequence

Invalid token in input

Invalid feedback channel for command

Invalid feedback peripheral for a command

Invalid feedback clocking rate

Invalid feedback supply

Invalid feedback resolution

Invalid holding register address

Holding register database not configured

Cannot grant access to holding register block

Cannot release access to holding register block

File open failed

File write failed

File read failed

File close failed

File seek failed

Malformed input

Clear fault function failed to clear faults

Missing tag in tags.cfg

TLX DS 57 PL7 xx

Error code

Diagnostics and Maintenance

Description

No axis object available

Too many axes in configuration

Duplicate axes in configuration

Missing or invalid axis

Axis object or config file not found

Value has different number of coordinates from axis

Motion axis not active

A move fault has occurred on the motion controller

Drive is not enabled

Command timed out

Only one SERCOS® bus may be configured

Axis rename failed

Cannot perform command in current configuration

Object is wrong type

Drive must be deactivated to perform command

Drive must be activated to perform command

Command not allowed at this time

Command cannot be completed due to drive fault

Manual mode refused for axis linked to a co-ordinated or follower set

Auto control refused for an axis in manual mode

305

Diagnostics and Maintenance

WRITE_CMD Command: Communication errors

List of

Communication

Errors

The following table lists the error codes, names, and descriptions of communication errors. Error codes 1000 to 1999 are reserved for this type of error.

Error code

1000

1001

1002

1003

1004

1005

1006

Description

Target not responding

Garbled communications

SERCOS® error

No opcode echo from drive

SERCOS® loop not ready

SERCOS® error

SERCOS® read failed (cyclic channel)

306

TLX DS 57 PL7 xx

Diagnostics and Maintenance

WRITE_CMD Command: System errors

List of System

Errors

TLX DS 57 PL7 xx

The following table lists the error codes, names, and descriptions of system errors.

Error codes 2000 to 2999 are reserved for this type of error.

2023

2024

2025

2026

2027

2028

2029

2015

2016

2017

2018

2019

2020

2021

2022

2007

2008

2009

2010

2011

2012

2013

2014

Error code

2000

2001

2002

2003

2004

2005

2006

Description

Unclassified error

Error in the components

System fault used in debugging

Drive got Command-Not-Allowed fault

Drive got illegal command fault

Drive got Programming Error fault

Invalid command ID

Failed to link object to drive interface

Semaphore create failed

Semaphore delete failed

Semaphore lock failed

Semaphore unlock failed

Semaphore inquiry failed

The motion axis was never successfully configured.

Command not implemented yet scx_unique failed

Queue create failed

Queue is full

Invalid queue ID

Unknown queue status

Queue inquiry failed

Event group create failed

Event group pend error

Event group clear error

Event flags create failed

Object lookup failed

Object manager not found

Invalid motion planner state

Memory allocation failed

307

Diagnostics and Maintenance

4009

4011

4012

4013

4015

4016

5001

2036

2037

4000

4001

4002

4005

4006

4007

Error code

2030

2031

2032

2033

2034

2035

Description

Error occurred upon attempting to get task ID from the operating system

Attempt to install too many error handlers

Thread create failed

Thread destructor failed

Problem with configuring a thread has occurred

Error occurred while attempting to suspend a thread

Error occurred while attempting to resume a thread

Error occurred while creating object

RMS current fault

Drive overtemperature condition

Resolver or encoder feedback fault

General drive fault (phase error)

Drive short circuit fault

Drive voltage fault

Following error fault

Drive has detected communications fault

Hardware end of travel fault

Homing, digital output or control conflict fault (from 2 sources)

SERCOS® master has detected communication fault

The watchdog expired and all axes disabled

308

TLX DS 57 PL7 xx

Diagnostics and Maintenance

WRITE_CMD Command: System warnings

List of system warnings

The following table lists the error codes, names, and descriptions of system warnings.

Error code

7001

7002

7003

7004

7005

7010

7777

Description

The program does not recognize this subroutine number

The axis ID is not valid for this subroutine

Parameter data is out of range

SubNum/SubNumEcho protocol error

The subroutine does not complete in time

The program does not recognize this subroutine number

A call was made to the Sample_User subroutine

TLX DS 57 PL7 xx

309

Diagnostics and Maintenance

TRF_RECIPE Command Explicit Writing Faults

Introduction

List of Errors

Specific to the

TRF_RECIPE

Command

The %MWxy.i.3 word signals a possible error while explicitly writing a TRF_RECIPE command.

The faults generated are the same as WRITE_CMD command explicit writing faults

(see previous pages), with the addition of a few TRF_RECIPE command specific faults.

The following table gives the error code, the name and the description of the errors specific to the TRF_RECIPE command:

Error code

Description

The CamProfile is configured to be fixed, not variable. A CamProfile table cannot be read or written.

The transfer requested exceeds the capacity of the %MW or %KW of the

PLC.

The table associated with the TRF_RECIPE is not large enough for the data to be exchanged.

310

TLX DS 57 PL7 xx

Diagnostics and Maintenance

Operating modes for the TSX CSY 84 module

Overview of the

Operating Modes

The operating modes for the TSX CSY 84 module are as follows:

RESET using pencil-point button

Power-up

Incorrect

Initialization

Incorrect

Self-tests

Incorrect

Start-up

Incorrect

Ready

Incorrect

Configured

Self-tests for the PC card integrated in the module

(duration 20 to 30 s)

Module self-tests

(duration 2 to 3 s)

Firmware initialization

(duration 5 to 20 s)

Module ready to receive a configuration

Module communicating with the processor

Serious error

LED

ERR

Others

Status lit not significant

(1) flashing during normal operation, otherwise off

(2) lit: off: flashing: channel in operation channel not configured channel faulty

LED

ERR

INI

Others

LED

All

Status flashing flashing off

Status flashing

LED

ERR

INI

Others

LED

ERR

Others

Status flashing flashing off

Status flashing off

LED

RUN

INI

I/O

Status lit off off

SER(1) flashing off

ERR off

1 to 24(2) lit flashing off

TLX DS 57 PL7 xx

311

Diagnostics and Maintenance

Logic diagrams of faults

Fault Generation The following logic diagram illustrates the generation of AXIS_SUMMARY_FAULT and external faults:

Existing drive

Conf_Drive_OK

Conf_PL7_OK

OK_CONF_DRIVE &

COMM_PHASE4

AXIS_COMM_OK

External fault

EXT_FAULT1

MF_DRIVE_FAULT

EXT_FAULT0

MF_MOVE_BUT_NOT_ENABLED

MF_REQUESTED_FAULT

MF_COMM_FAULT

MF_AXIS_LIMIT_FAULT

MF_MOVE_WHILE_HALT

WATCHDOG_FAULT

SERCOS_RATE_TOO_FAST

AXIS_COMM_OK

MF_DRIVE_FAULT

AXIS_SUMMARY_FAULT

312

TLX DS 57 PL7 xx

Activation of

LEDs

Diagnostics and Maintenance

The following logic diagram illustrates the activation of the I/O and CH LEDs:

I/O

External fault

Drive_Warning

Configuration_OK

LED lit

LED flashing

313

TLX DS 57 PL7 xx

Diagnostics and Maintenance

Drive faults

Introduction Certain functions can be used upload the default information to the application.

l l l

These functions are:

GET_IDN for IDN_11,

GET_IDN for IDN_12,

GET_IDN for IDN_13.

Note: For more information on GET_IDN functions, see ( SERCOS® IDN Read/

Write Functions, p. 248).

"IDN11" faults The faults below are a result of the execution of the GET_IDN function for IDN_11.

Bit

Description

Stop due to overload (IDN 114)

Stop temperature of the amplifier (IDN 203)

Stop temperature of the motor (IDN 204)

Stop due to faulty cooling (IDN 205)

Command voltage error

Feedback error

Error in the communication system

Over intensity error

Over-voltage error

Under voltage error

Electric supply phase error

Excessive position deviation (IDN 159)

Transmission error (IDN 14)

Limits exceeded (IDN 49 and 50)

Reserved

Manufacturer specific error (IDN 129)

314

TLX DS 57 PL7 xx

"IDN11" faults

Diagnostics and Maintenance

The faults below are a result of the execution of the GET_IDN function for IDN_12.

Bit

4 to 14

Description

Overload alarm (IDN 314)

Amplifier overheated alarm (IDN 311)

Motor overheating alarm (IDN 312)

Alarm due to faulty cooling (IDN 313)

Reserved

Manufacturer specific alarm (IDN 129)

"IDN13" faults The faults below are a result of the execution of the GET_IDN function for IDN_13.

Bit

11 to 14

Description

N return status = N command (IDN 330)

Status of [absolute value of return N] = 0 (IDN 331)

N return status < [absolute value of Nx] (IDN 332)

Status of [absolute value of T] >= [absolute value of Tx] (IDN 333)

Status of [absolute value of T] >= [absolute limit value of T] (IDN 334)

Status of [absolute value of N command] >= [absolute limit value of N] (IDN 335)

Status in position (IDN 336)

Status of [absolute value of P] <= [absolute value of Px] (IDN 337)

Reserved

Status of [absolute value of real N] >= maximum spindle speed (IDN 339)

Status of [absolute value of real N] >= maximum spindle speed (IDN 340)

Reserved

Manufacturer specific alarm (IDN 129)

TLX DS 57 PL7 xx

315

Diagnostics and Maintenance

316

TLX DS 57 PL7 xx

Interface language

Introduction

Subject of this

Chapter

What's in this

Chapter?

This chapter describes the utilities available through the PL7 interface and supplies the list of variables for the TSX CSY 84 module.

This Chapter contains the following Sections:

Section

10.1

10.2

Topic

PL7 Interface

List of Variables

Page

318

329

TLX DS 57 PL7 xx

317

Interface Language

10.1 PL7 Interface

Introduction

Aim of this subchapter

This chapter describes the services, which may be accessed via the PL7 interface:

READ_PARAM, WRITE_PARAM, SAVE_PARAM, RESTORE_PARAM,

WRITE_CMD, TRF_RECIPE, etc.

What's in this

Section?

This Section contains the following Maps:

Topic

Interface Language

Parameter Management

WRITE_PARAM and READ_PARAM

SAVE_PARAM and RESTORE_PARAM

WRITE_CMD

WRITE_CMD Examples

READ_STS

Page

318

TLX DS 57 PL7 xx

Interface Language

Module

Channels

The TSX CSY 84 module is made up of up to 32 channels which support the following functions:

Channels

%CHxy.0

%CHxy.1 to %CHxy.8

%CHxy.9 to %CHxy.12

Function supported

SERCOS® function

Real axes

Imaginary axes

%CHxy.13 to %CHxy.16

External measurement axes

%CHxy.17 to %CHxy.20

Co-ordinated axis group

%CHxy.21 to %CHxy.24

Slave axis group

%CHxy.25 to %CHxy.31

Cam Profiles

Overview of

Exchanges

The exchanges between the processor, the axis command module and the variable speed controllers are performed as follows:

Speed drive Processor

Adjustment parameters

WRITE_PARAM

READ_PARAM

WRITE_CMD

(Get / Set)

WRITE_CMD

(GetIDN / SetIDN)

TRF_RECIPE

SAVE_PARAM

RESTORE_PARAM

Save

PL7 program

%I, %IW

%Q, %QW

%MW status words

WRITE_CMD

(Move, etc.)

Implicit exchanges

READ_STS

TSX CSY 84

Module

TLX DS 57 PL7 xx

319

Interface Language

Parameter Management

General The parameters of an axis command module and speed drives are managed separately via PL7 and UniLink. For example, it is possible to define the different values for limits in an axis command module and speed drives.

l l

The parameters of an axis command module may be divided into 2 categories:

Parameters used only by the axis command module,

Parameters used both by the axis command module and the speed drives.

Note: Drives that operate with a linear type unit are not supported by the module

TSX CSY 84.

Axis Command

Module

Parameters

Speed Drive

Parameters

Type "C" (Controller) parameters are exchanged whilst floating, in the axis command module units. These parameters are related to the path calculation or cam profiles. They are configured in PL7 configuration screens, then modified by the application as required. The units of these parameters are the command axis module units as defined in the configuration screens.

When the application modifies a parameter in the axis command module, the corresponding parameter in the speed drives is not updated (e.g. the minimum and maximum position limits, minimum and maximum acceleration, maximum speed, debugging window).

These parameters are considered to be speed drive system parameters. The user configures them via UniLink in order to protect the operational part and it is not necessary to change them when operating (the application program modifies the equivalent "C" type parameters in the command axis module).

320

TLX DS 57 PL7 xx

Interface Language

Parameters used by the Axis

Command

Module and the

Drives

The axis command module does not update the speed drive parameters according to these equivalent parameter values.

Type "S" parameters (identifiers (IDN) SERCOS(r) Standard) and type "P" parameters (identifiers (IDN) SERCOS(r) Owner) are exchanged whilst floating with the axis command module and in full with the speed drives (e.g. acceleration, speed and position values).

If the application requires the value of the axis command module parameters to be synchronized with the speed drive' parameters, it can read "S" or "P" type parameters (TRF_RECIPE) and then write them in the "C" type parameters

(WRITE_PARAM).

"Unit"

Parameters

Units are parameters used both by the axis command module and the drives.

Units are configured using PL7. The conversion of axis command module units into speed drive units is automatically performed by the module TSX CSY 84 using a scale factor configured by the user.

TLX DS 57 PL7 xx

321

Interface Language

WRITE_PARAM and READ_PARAM

Reminder

Syntax of the instruction

READ_PARAM

Syntax of instruction

WRITE_PARAM

Monitoring the exchange

These services allow the exchange of adjustment parameters between the processor (application) and the axis command module.

READ_PARAM: explicit reading of the parameters in the axis command module and updating of the adjustment words %MW/D/Fxy.ir.

WRITE_PARAM: explicit writing of parameters in the axis command module. This instruction allows the modification by the program of defined adjustment values in configuration.

READ_PARAM %CHxy.i: reading the adjustment parameters of channel i, of the module situated at the xy address (rack number, position in the rack).

For example: READ_PARAM %CH3.1 (reading the parameters of channel 1, of the module situated in position 3 of rack 0).

WRITE_PARAM %CHxy.i: writing the adjustment parameters of channel i, of the module situated at the xy address (rack number, position in the rack).

For example: READ_PARAM %CH104.2 (writing the parameters of channel 2, of the module situated in position 4 of rack 1).

The 2 bits which follow may be used to monitor the exchanges of adjustment parameters between the processor and the module:

Bit

%MWxy.i.0:X2

%MWxy.i.1:X2

Meaning

This bit is set at 1 when the exchange is in process. It is reset to 0 when the exchange has been completed.

This bit is set at 1 if the parameters passed on are out of range or erroneous.

322

TLX DS 57 PL7 xx

Interface Language

SAVE_PARAM and RESTORE_PARAM

Reminder

Syntax of instruction

SAVE_PARAM

Syntax of instruction

RESTORE_PAR

Monitoring the exchange

These services can be used to save or restore adjustment parameters.

SAVE_PARAM: explicit backup of the axis command module parameters. These parameters replace the initial values defined during configuration.

RESTORE_PARAM: explicit restoration of the initial adjustment parameters (written at the time of configuration or last backup).

SAVE_PARAM %CHxy.i: backup for the adjustment parameters of channel i, of the module situated at the xy address (rack number, position in the rack).

For example: SAVE_PARAM %CH3.1 (saving the parameters of channel 1, of the module situated in position 3 of rack 0).

RESTORE_PARAM %CHxy.i: restoration of the adjustment parameters of channel i, of the module situated at the xy address (rack number, position in the rack).

For example: RESTORE_PARAM %CH104.2 (restoration of the parameters of channel 2, of the module situated in position 4 of rack 1).

The 2 bits which follow may be used to monitor the writing of the adjustment parameters in the module:

Bit Meaning

%MWxy.i.0:X2 This bit is set at 1 when the exchange is in process. It is reset to 0 when the exchange has been completed.

%MWxy.i.1:X2 This bit is set at 1 if the parameters passed on are out of range or erroneous.

TLX DS 57 PL7 xx

323

Interface Language

WRITE_CMD

Reminder

Syntax of instruction

WRITE_CMD

Interface

This service allows a command to be sent to the axis command module.

WRITE_CMD: explicit writing of command words in the module. This operation is carried out via internal words %MW which contain the command to be carried out and its parameters (a movement command, for example).

WRITE_CMD %CHxy.i: writing the command information of channel i, of the module situated at the xy address (rack number, position in the rack).

For example: WRITE_CMD %CH3.1 (writing the command information of channel

1, of the module situated in position 3 of rack 0).

The command to be carried out is defined in the word %MWxy.i.26 and the result of the command is available in the words %MWxy.i.19 to %MWxy.i.24

Address

%MWxy.i.19

%MDxy.i.20

%MFxy.i.22

%MFxy.i.24

%MWxy.i.26

%MDxy.i.27

%MDxy.i.29

%MFxy.i.31

%MFxy.i.33

Type

Word

Symbol

ERROR_CMD

Meaning

Write error of the command

WRITE_CMD

Double word RETURN_CMD_1 Return 1 of the function

Floating point

RETURN_CMD_2 Return 2 of the function

Floating point

RETURN_CMD_3 Return 3 of the function

Word ACTION_CMD Action to be performed

Double word PARAM_CMD_1 Parameter 1

Double word PARAM_CMD_2 Parameter 2

Floating point

PARAM_CMD_3 Parameter 3

Floating point

PARAM_CMD_4 Parameter 4

324

TLX DS 57 PL7 xx

Interface Language

Interface

WRITE_CMD in the case of a coordinated axis group

In the case of a coordinated axis group, the movement functions make it necessary to send 2 parameters by coordinated axis (position and speed):

Address

...

%MDxy.i.27

%MDxy.i.29

%MFxy.i.31

%MFxy.i.33

Type

...

Symbol

...

Double word PARAM_CMD_1

Double word PARAM_CMD_2

PARAM_CMD_3 Floating point

Floating point

PARAM_CMD_4

Meaning

...

Parameter 1

Parameter 2

Parameter 3

Parameter 4

%MFxy.i.35

Floating point

...

PARAM_CMD_5 Parameter 5 (*)

...

%MFxy.i.61

Floating point

...

PARAM_CMD_18

...

Parameter 18 (*)

(*) Solely with the functions "coordinated axis group".

Monitoring the exchange

The 2 bits which follow may be used to monitor the writing of command information in the module:

Bit Meaning

%MWxy.i.0:X1 This bit is set at 1 when the exchange is in process. It is reset to 0 when the exchange has been completed.

%MWxy.i.1:X1 This bit is set at 1 if the parameters passed on are out of range or erroneous.

TLX DS 57 PL7 xx

325

Interface Language

WRITE_CMD Examples

Example 1:

Initializing

Defaults

Initialize defaults on the bus ring of module 4 situated in rack 1:

(*If WRITE_CMD not in progress, then initialization of defaults*)

IF NOT %MW104.0.0:X1 THEN %MW104.0.26 := 409;

WRITE_CMD %CH104.0;

END_IF;

Example 2:

Writing the

Optical Power

Defining (writing) the optical power:

(*If WRITE_CMD not in progress, then writing (set) of the optical power*)

IF NOT %MW104.0.0:X1 THEN %MW104.0.26 := 2545;

%MF104.0.31 := 51.5; //Parameter 3: optical power = 51.5

WRITE_CMD %CH104.0;

END_IF;

Exemple 3:

Reading the transmission ratio

Read the transmission ratio (BAUD_RATE):

(*If WRITE_CMD not in progress, then reading (get) of the transmission ratio*)

IF NOT %MW104.0.0:X1 THEN %MW104.0.26 := 1551;

WRITE_CMD %CH104.3;

END_IF;

(*If WRITE_CMD has been completed and if there is no default, then the value of the transmission ratio is accessible in return 1*)

IF NOT %MW104.0.0:X1 AND NOT %MW104.0.1:X1

THEN BAUD_RATE: =%MD104.0.20; //transmission ration in return 1

END_IF;

326

TLX DS 57 PL7 xx

Example 4:

Moving a real axis

Interface Language

Moving the real axis 3 from module 4 set in rack 1, at position 105.2, at speed 5 with the command "MOVE absolute immediate":

(*If WRITE_CMD not in progress, then move real axis 3*)

IF NOT %MW104.3.0:X1 THEN %MW104.3.26 := 513;

%MD104.3.27 := 0;

%MF104.3.31 := 105.2;

%MF104.3.33 := 5.0;

//Parameter 1: type of movement = absolute

//Parameter 3: position = 105.2

//Parameter 4: speed = 5

WRITE_CMD %CH104.3;

END_IF;

Example 5:

Reading the position of a slave

Reading the relative position of a follower slave when the master is at 102.5:

(*If WRITE_CMD not in progress, then reading the position of the follower slave*)

IF NOT %MW104.26.0:X1 THEN %MW104.26.26 := 537;

%MF104.26.31 := 102.5; //Parameter 3: position of the master =

102.5

WRITE_CMD %CH104.26;

END_IF;

(*If WRITE_CMD has been completed and if there is no default, then the position of the slave is accessible in return 2*)

IF NOT %MW104.26.0:X1 AND NOT %MW104.26.1:X1

THEN SLAVE_POSITION

:=%MF104.26.22;

//position in return 2

END_IF;

TLX DS 57 PL7 xx

327

Interface Language

READ_STS

Reminder

Syntax of the

READ_STS

(module) instruction

Syntax of the

READ_STS

(channel) instruction

Monitoring the exchange

This service allows one to read the status words associated with the axis command module or with the different channels explicitly.

READ_STS %CHxy.MOD: Reading the general diagnostics information of the module situated at the xy address (rack number, position in the rack).

For example: READ_STS %CH203.MOD (reading the diagnostics information of the module situated in position 3 of rack 2).

READ_STS %CHxy.i: reading the diagnostics information of channel i, of the module situated at the xy address (rack number, position in the rack).

For example: READ_STS %CH102.1 (reading the diagnostics information of channel 1of the module situated in position 2 of rack 1).

The 2 bits which follow may be used to monitor the exchanges of status words between the module and the processor:

Bit Meaning

%MWxy.i.0:X0 This bit is set at 1 when the reading is in process. It is reset to 0 when the exchange has been completed.

%MWxy.i.1:X0 This bit gives the report of the exchange. It is set to 1 in the case of default.

328

TLX DS 57 PL7 xx

Interface Language

10.2 List of Variables

Introduction

Aim of this subchapter

What's in this

Section?

This sub-chapter lists the accessible variables for the TSX CSY 84 module.

This Section contains the following Maps:

Topic

Implicitly Exchanged Input Variables

Implicitly Exchanged Output Variables

Adjustment Parameters for the SERCOS® Function

Adjustment Parameters for an Individual Axis

Adjustment Parameters for a a Set of Follower Axes

Constant Words

Page

TLX DS 57 PL7 xx

329

Interface Language

Implicitly Exchanged Input Variables

Input Bits and

Words

The following 32 input bits and the input word are implicitly exchanged between the processor and the axis control module:

Address

%Ixy.i.ERR

%Ixy.i.0

%Ixy.i.1

%Ixy.i.2

%Ixy.i.3

%Ixy.i.4

%Ixy.i.5

%Ixy.i.6

%Ixy.i.7

%Ixy.i.8

%Ixy.i.9

%Ixy.i.10

%Ixy.i.11

%Ixy.i.12

%Ixy.i.13

%Ixy.i.14

%Ixy.i.15

%Ixy.i.16

%Ixy.i.17

%Ixy.i.18

Bit

Type

Bit

Symbol

ERR

RAMPING

STEADY

STOPPING

PROFILE_END

IN_POSITION

AXIS_HOMING

Description

Default channel

Indicates whether the axis is accelerating or decelerating

The speed is steady

The movement is decelerating to a stop

The last profile command has been sent to the module

The axis is within the in-position band

The axis is homing. For an imaginary axis, this bit is inactive

AXIS_HOMED The axis position reading is referenced off the home position

AXIS_NOT_FOLLOWING The drive is not recognizing module commands

HOLDING

RESUMING

DRIVE_ENABLED

DRIVE_DIAG

DRIVE_WARNING

The axis is holding in wait position

The axis is moving after a hold

The drive is enabled

The drive is performing a class 3 diagnostic

The drive is performing a class 2 diagnostic

DRIVE_FAULT

DRIVE_DISABLED The drive is disabled

AXIS_SUMMARY_FAULT Drive fault

AXIS_COMM_OK

The drive is performing a class 1 diagnostic

AXIS_IS_LINKED

AXIS_IN_COMMAND

Communication between the module and the drive is OK

The axis belongs to a set of axes

The axis is active and can be controlled

330

TLX DS 57 PL7 xx

Address

%Ixy.i.19

%Ixy.i.20

%Ixy.i.21

%Ixy.i.22

%Ixy.i.23

%Ixy.i.24

%Ixy.i.25

%Ixy.i.26

%Ixy.i.27

%Ixy.i.28

%Ixy.i.29

%Ixy.i.30

%Ixy.i.31

%Ixy.i.32

%IFxy.i.0

Interface Language

Bit

Type

Bit

Floatin g point

Symbol

AXIS_AT_TARGET

AXIS_POS_LIMIT

AXIS_NEG_LIMIT

AXIS_WARNING

BIAS_REMAIN

AXIS_MODE_MANUAL

Description

Reserved

The axis is within the in-position band for the target position

The axis has reached the positive limit

The axis has reached the negative limit

MotionWarning status returned by the drive

Offset added to the command position

0 : automatic mode (by default)

1 : manual mode

DRIVE_REALTIME_BIT1 Drive bit

DRIVE_REALTIME_BIT2 Drive bit

AXIS_HOLD The axis is stopped and waiting for a command

AXIS_HALT

AXIS_FASTSTOP

AXIS_READY

The axis has stopped

The axis has faststopped

The axis is ready to respond to a command

CONF_OK

POSITION

The channel is configured

Actual position

331

Interface Language

Implicitly Exchanged Output Variables

Output Bits and

Words

The following 32 output bits and the output word are implicitly exchanged between the processor and the axis command module:

Address

%Qxy.i.0

%Qxy.i.1

%Qxy.i.2

%Qxy.i.3

%Qxy.i.4

%Qxy.i.5

%Qxy.i.6

%Qxy.i.7

%Qxy.i.8

%Qxy.i.9

%Qxy.i.10

%Qxy.i.11

%Qxy.i.12

%Qxy.i.13

%Qxy.i.14

%Qxy.i.15

%Qxy.i.16

%Qxy.i.17

%Qxy.i.18

%Qxy.i.19

%Qxy.i.20

%Qxy.i.21

%Qxy.i.22

%Qxy.i.23

%Qxy.i.24

%Qxy.i.25

%Qxy.i.26

Bit

Type

Bit

Symbol

CONTROL_ACQUIRE

REALTIME_CONTROL_

BIT1

Description

Reserved

Control acquisition

Reserved

Control bit associated with an IDN command

REALTIME_CONTROL_

BIT2

CONTROL_ENABLE

CONTROL_FOLLOW

Control bit associated with an IDN command

Reserved

Enables control

Follow control for an axis or a set of follower axes

CONTROL_RESUME Resumes control after a stop

Reserved

/ Reserved

CONTROL_CLEAR_FAULT Fault clear control

ALLOW_ACQUIRE

Reserved

Enables acquisition

Reserved

ALLOW_ENABLE

Reserved

Disables axis control

332

TLX DS 57 PL7 xx

Interface Language

Address

%Qxy.i.27

%Qxy.i.28

%Qxy.i.29

%Qxy.i.30

%Qxy.i.31

%QDxy.i.0

Type

Bit

Double

Word

Symbol

ALLOW_FOLLOW

ALLOW_RESUME

ALLOW_MOVE

Description

Cancels follow control for an axis or a set of follower axes

Permits a movement to be continued after a stop using the

HOLD command

Permits a movement after a stop using the HALT command

ALLOW_NOT_FASTSTOP Control after a Faststop

ALLOW_NOT_FAULT Enables fault control

REMOTE_POSITION Simulated position

TLX DS 57 PL7 xx

333

Interface Language

Adjustment Parameters for the SERCOS® Function

List of

Parameters

With channel 0, the following parameters are exchanged by the commands

WRITE_PARAM and READ_PARAM:

Address

%MWxy.i.35

%MWxy.i.36

%MWxy.i.37

Type

Word

Symbol

CYCLE_TIME

BAUD_RATE

OPTICAL_POWER

Description

SERCOS® ring cycle time ( see chapter 6 (See Configuration of the

SERCOS® Function (channel 0),

p. 80 ), SERCOS® Function

Configuration)

Ring flow rate (in Bauds)

Optical power in the fiber

334

TLX DS 57 PL7 xx

Interface Language

Adjustment Parameters for an Individual Axis

List of

Parameters

With channels 1 to 16, the following parameters are exchanged by the

WRITE_PARAM and READ_PARAM commands:

Address Type

%MWxy.i.35:X0 Bit

%MWxy.i.35:X1 Bit

%MWxy.i.35:X2 Bit

Symbol

ENABLE_ROLLOVER

TEST_POSITION_BAND

Reserved

Description

Enables rollover mode

Enables position test

Always at 0

%MWxy.i.35:X3 Bit

%MWxy.i.35:X4 Bit

%MWxy.i.35:X5 Bit

%MFxy.i.36

Floating point

ACCEL

%MFxy.i.38

Reserved Always at 0

DISABLE_LIMITS_CHECKING Disables limits checking

Floating point

DECEL

Reserved

Acceleration value

Deceleration value

%MWxy.i.40

%MFxy.i.41

Acceleration type

Value of the in-position band

%MFxy.i.43

%MFxy.i.45

Word ACCEL_TYPE

Floating point

IN_POSITION_BAND

Floating point

ENABLE_POSITION_BAND

Floating point

ROLLOVER_MAX

Value of the monitoring window

Maximum rollover

%MFxy.i.47

Minimum rollover

%MFxy.i.49

%MFxy.i.51

%MFxy.i.53

%MFxy.i.55

%MFxy.i.57

%MFxy.i.59

Floating point

ROLLOVER_MIN

Floating point

ACCEL_MAX

Floating point

DECEL_MAX

Floating point

SPEED_MAX

Floating point

POSITION_MAX

Floating point

POSITION_MIN

Floating point

SCALE_NUMERATOR

Maximum acceleration

Maximum deceleration

Maximum speed

Maximum position

Minimum position

Scale factor numerator (*)

TLX DS 57 PL7 xx

335

Interface Language

Address

%MFxy.i.61

%MWxy.i.63

%MWxy.i.64

%MWxy.i.65

Type Symbol

Floating point

SCALE_DENOMINATOR

Word

ACCEL_UNITS

SPEED_UNITS

POSITION_UNITS

Description

Scale factor denominator (*)

Acceleration unit.

Velocity unit

Position unit

(*) See configuration of an individual axis and the GetGearRatio function.

336

TLX DS 57 PL7 xx

Interface Language

Adjustment Parameters for a a Set of Follower Axes

List of

Parameters

TLX DS 57 PL7 xx

With channels 21 to 24, the following parameters are exchanged by the

WRITE_PARAM and READ_PARAM commands:

Address

%MWxy.i.35

%MWxy.i.36

%MWxy.i.37

%MWxy.i.37:X0

%MWxy.i.37:X1

%MWxy.i.37:X2

%MWxy.i.37:X3

%MWxy.i.37:X4

%MWxy.i.37:X5

%MWxy.i.37:X6

%MWxy.i.37:X7

%MWxy.i.37:X8 to

%MWxy.i.37:X10

Type

Word

Bit

Symbol

MASTER_CHANNEL

Description

Number of the master axis

SLAVE_CHANNEL_1 Number of slave axis 1

FOLL_DESCRIPTION_1 Definition of slave axis 1

FOLL_WHERE_1

FOLL_TYPE_1

FOLL_POSITION_1

FOLL_FOLLOW_ON_

HALT_1

0 = Controller

0 = Gearing; 1 = Camming

0 = following the actual position; 1 = following the commanded position

1 = stop the follower axis if master/ slave link is removed

Always at 0

FOLL_HALT_MASTER_

FOLL_BIAS_REMAINS_

FOLL_START_1

1 = stop the master in the event of a following error

1 = dynamic offset on position of master

Start condition:

0 = immediately

1 = master position reaches trigger in negative direction

2 = master position reaches trigger in positive direction

3 = master position > trigger

4 = master position < trigger

Always at 0 %MWxy.i.37:X11 to

%MWxy.i.37:X15

%MFxy.i.38

Bit

%MFxy.i.40

%MFxy.i.42

%MWxy.i.44

Floating NUMERATOR_1 point

Floating point

DENOMINATOR_1

Numerator for slave axis 1

Denominator for slave axis 1

Floating TRIGGER_POSITION_1 Value of trigger for slave axis 1 point

Word SLAVE_CHANNEL_2 Number of slave axis 2

337

Interface Language

338

Address

%MWxy.i.45

%MFxy.i.46

%MFxy.i.48

%MFxy.i.50

%MWxy.i.52

%MWxy.i.53

%MFxy.i.54

%MFxy.i.56

%MFxy.i.58

%MWxy.i.60

%MWxy.i.61

%MFxy.i.62

%MFxy.i.64

%MFxy.i.66

%MWxy.i.68

%MWxy.i.69

%MFxy.i.70

%MFxy.i.72

%MFxy.i.74

Type

Word

Floating point

Symbol

NUMERATOR_2

Description

FOLL_DESCRIPTION_2 Definition of slave axis 2. The description of the bits is identical to the description for slave axis 1.

Numerator for slave axis 2

Floating point

DENOMINATOR_2 Denominator for slave axis 2

Floating point

TRIGGER_POSITION_2 Value of trigger for slave axis 2

Word

Floating point

SLAVE_CHANNEL_3

NUMERATOR_3

Number of slave axis 3

FOLL_DESCRIPTION_3 Definition of slave axis 3. The description of the bits is identical to the description for slave axis 1.

Numerator for slave axis 3

Floating point

DENOMINATOR_3 Denominator for slave axis 3

Floating point

TRIGGER_POSITION_3 Value of trigger for slave axis 3

Word

SLAVE_CHANNEL_4 Number of slave axis 4

FOLL_DESCRIPTION_4 Definition of slave axis 4. The description of the bits is identical to the description for slave axis 1.

Numerator for slave axis 4 Floating point

NUMERATOR_4

Floating point

DENOMINATOR_4 Denominator for slave axis 4

Floating point

TRIGGER_POSITION_4 Value of trigger for slave axis 4

Word

Floating point

SLAVE_CHANNEL_5

NUMERATOR_5

Number of slave axis 5

FOLL_DESCRIPTION_5 Definition of slave axis 5. The description of the bits is identical to the description for slave axis 1.

Numerator for slave axis 5

Floating point

DENOMINATOR_5 Denominator for slave axis 5

Floating point

TRIGGER_POSITION_5 Value of trigger for slave axis 5

TLX DS 57 PL7 xx

Address

%MWxy.i.76

%MWxy.i.77

%MFxy.i.78

%MFxy.i.80

%MFxy.i.82

Interface Language

Type

Word

Floating point

Symbol

SLAVE_CHANNEL_6

Description

Number of slave axis 6

FOLL_DESCRIPTION_6 Definition of slave axis 6. The description of the bits is identical to the description for slave axis 1.

NUMERATOR_6 Numerator for slave axis 6

Floating point

DENOMINATOR_6 Denominator for slave axis 6

Floating TRIGGER_POSITION_6 Value of trigger for slave axis 6 point

TLX DS 57 PL7 xx

339

Interface Language

Constant Words

List of Constant

Words

The table below lists the constant words:

Address

%KWxy.i.0

%KWxy.i.2

Type

Word

Symbol

CHANNEL_ID

SERCOS_ADD

Description

Channel identification

SERCOS® address of the axis (only for a real axis or a remote axis)

340

TLX DS 57 PL7 xx

Appendices

At a glance

Subject of this chapter

What's in this

Chapter?

This chapter provides all the appendices for the document: performance and limits, list of motion data, IDN read/write functions, etc.

This Chapter contains the following Sections:

Section

11.1

Topic

List of Accessible Functions

Page

342

TLX DS 57 PL7 xx

341

Appendices

11.1 List of Accessible Functions

Introduction

Aim of this subchapter

What's in this

Section?

This sub-chapter recalls the different accessible functions for the TSX CSY 84 module.

This Section contains the following Maps:

Topic

Accessible Functions for SERCOS® Channel 0

Accessible Functions for a Real Axis

Accessible Functions for an Imaginary Axis

Accessible Functions for a Remote Axis

Accessible Functions for a Group of Co-ordinated Axes

Accessible Functions for a Group of Slave Axes

Accessible Functions for a Cam Profile

Page

342

TLX DS 57 PL7 xx

Appendices

Accessible Functions for SERCOS® Channel 0

Adjustment

Functions

The following table lists the adjustment functions:

Function

GetOpticalPower

SetOpticalPower

Code Feedback

1547 Feedback 2: Percentage

2547 None

Parameters

None

Parameter 3: Percentage

Diagnostic

Functions

The following table lists the diagnostic functions:

Function

GetActualPhase

GetAxisID

GetCommandedPhase

GetCombinedControl

GetControl

Code Feedback

550 Feedback 1: Phase

523 Feedback 1: Identifier

1545 Feedback 1: Phase

1534 Feedback 1: Movement

Control bits

1525 Feedback 1: Movement

Control bits

GetLoopDiagnosticMode 1546 Feedback 1: Diagnostic mode

5510 Feedback 1: List of faults GetMotionFault

GetMotionWarning 5511 Feedback 1: List of warnings

GetNumberOfDrivesInRing 548

GetNumberInSet 541

Return 1: No. of drives

Feedback 1: No. of axes

GetSercosAddress

IsLoopUp

SetCommandedPhase

SetLoopDiagnosticMode

549

543

2545

2546

Feedback 1: Address

Feedback 1: 0 / 1

None

Parameters

None

Parameter 1: Axis

None

Parameter 1: Phase

Parameter 1: Diagnostic mode

TLX DS 57 PL7 xx

343

Appendices

Read/Write

Functions for

IDN Parameters

The following table lists the read/write functions for IDN parameters for SERCOS® drives:

Function

GetIDN_S

GetIDN_P

GetIDN_US

GetIDN_UP

SetIDN_S

Code Feedback

1556 Feedback 1: SERCOS® parameter

1557 Feedback 1: SERCOS® parameter

1558 Feedback 1: SERCOS® parameter

1559 Feedback 1: SERCOS® parameter

2556 None

Parameters

Parameter 1: Identifier

SetIDN_P

SetIDN_US

SetIDN_UP

2557 None

2558 None

2559 None

Parameter 1: Identifier

Parameter 2: SERCOS® parameter

Parameter 1: Identifier

Parameter 2: SERCOS® parameter

Parameter 1: Identifier

Parameter 3: SERCOS® parameter

Parameter 1: Identifier

Parameter 3: SERCOS® parameter

344

TLX DS 57 PL7 xx

Accessible Functions for a Real Axis

Movement

Control

Functions

The following table lists the movement control functions:

Function

ForcedHome

Home

Code

6039

6034

Feedback

None

Unhome 6038 None

Parameters

None

Parameter 3: Direction

Parameter 4: Speed

None

Appendices

Movement

Functions

The following table lists the movement functions:

Function

MoveImmed

MoveImmed_G30

MoveQueue

EnableRealTimeCtrlBit

Code

513

554

520

2562

Feedback Parameters

None Parameter 1: Type

Parameter 3: Position

Parameter 4: Speed

None

Parameter 1: Type

Parameter 2: No. of points

Parameter 3: Pathpoints

Parameter 4: Approach speed

Parameter 1: Type

Parameter 3: Position

Parameter 4: Speed

Parameter 1: Enable (1)

Disable (0)

TLX DS 57 PL7 xx

345

Appendices

Adjustment

Functions

346

The following table lists the adjustment functions:

Function

DisableRollover

EnableRollover

GetAccel

GetAccelMax

GetActualSpeed

GetDecel

GetDecelMax

Code

412

411

1041

1116

5065

1042

1117

GetDefaultSpeed

GetEnableMode

1065

1524

GetEnablePositionBand 1538

GetInPositionBand 1035

GetPositionLimit

GetRolloverLimit

GetSpeedLimit

GetSpeedOverride

GetUnrolled

CommandedPosition

1505

1539

1066

1513

547

GetUnrolledPosition

SetAccel

SetAccelMax

SetDecel

546

2041

2116

2042

SetDecelMax

SetDefaultSpeed

2117

2065

SetEnableMode 2524

SetEnablePositionBand 2538

SetInPositionBand

SetPosition

SetPositionLimit

2035

2053

2505

SetRolloverLimit 2539

Feedback

None

Feedback 2:

Acceleration

Feedback 2:

Acceleration

Feedback 1: Speed

Parameters

None

Feedback 2:

Deceleration

Feedback 2:

Deceleration

Feedback 1: Speed

Feedback 1: Mode

Feedback 2: Position

None

Feedback 2: Position

Parameter 1: Direction

Feedback 2: Speed None

Feedback 2: Percentage None

Feedback 2: Position None

Feedback 2: Position

None

Parameter 3: Acceleration

Parameter 3: Deceleration

Parameter 1: Speed

Parameter 1: Mode

Parameter 3: Position

Parameter 1: Direction

Parameter 3: Position

Parameter 1: Direction

Parameter 3: Position

TLX DS 57 PL7 xx

Diagnostic

Functions

Function

SetSpeedLimit

SetSpeedOverride

Code

2066

2513

Feedback

None

Appendices

Parameters

Parameter 3: Speed

Parameter 3: Percentage

The following table lists the diagnostic functions:

Function

GetAxisId

Code

523

GetCommandedPosition 1053

GetCombinedControl 1534

GetControl 1525

GetMotionFault

GetMotionWarning

5510

5511

GetMoveQueueLength 9510

GetNumberInSet 541

GetSercosAddress 549

Feedback

Feedback 1: Identifier

Feedback 2: Position

Feedback 1: Movement control bits

Parameters

None

Feedback 1: Movement control bits

None

Feedback 1: List of faults None

Feedback 1: List of warnings None

Return 1: Length

Feedback 1: No. of axes

Feedback 1: Address

None

Configuration

Functions

The following table lists the configuration functions:

Function

GetAccelType

GetGearRatio

SetAccelType

SetGearRatio

Code Feedback

1540 Feedback 1: Acceleration type

Parameters

None

1500 Feedback 2: Numerator

Feedback 3: Denominator

None

2540

2500

None

Parameter 1: Acceleration type

Parameter 3: Numerator

Parameter 4: Denominator

TLX DS 57 PL7 xx

347

Appendices

Read/Write

Functions for

IDN Parameters

The following table lists the read/write functions for IDN parameters for SERCOS® drives:

Function

GetIDN_S

GetIDN_P

GetIDN_US

GetIDN_UP

SetIDN_S

Code Feedback

1556 Feedback 1: SERCOS® parameter

1557 Feedback 1: SERCOS® parameter

1558 Feedback 1: SERCOS® parameter

1559 Feedback 1: SERCOS® parameter

2556 None

Parameters

Parameter 1: Identifier

SetIDN_P

SetIDN_US

SetIDN_UP

2557 None

2558 None

2559 None

Parameter 1: Identifier

Parameter 2: SERCOS® parameter

Parameter 1: Identifier

Parameter 2: SERCOS® parameter

Parameter 1: Identifier

Parameter 3: SERCOS® parameter

Parameter 1: Identifier

Parameter 3: SERCOS® parameter

348

TLX DS 57 PL7 xx

Appendices

Accessible Functions for an Imaginary Axis

Movement

Control

Functions

The following table lists the movement control functions:

Function

ForcedHome

Home

Code Feedback

6039 None

6034 None

Unhome 6038 None

Parameters

None

Parameter 3: Direction

Parameter 4: Speed

None

Movement

Functions

The following table lists the movement functions:

Function

MoveImmed

Code Feedback

513 None

MoveImmed_G30

MoveQueue

554 None

520 None

Parameters

Parameter 1: Type

Parameter 3: Position

Parameter 4: Speed

Parameter 1: Type

Parameter 2: No. of points

Parameter 3: Pathpoints

Parameter 4: Approach speed

Parameter 1: Type

Parameter 3: Position

Parameter 4: Speed

TLX DS 57 PL7 xx

349

Appendices

Adjustment

Functions

The following table lists the adjustment functions:

Function

DisableRollover

EnableRollover

GetAccel

GetAccelMax

GetActualSpeed

GetDecel

GetDecelMax

GetDefaultSpeed

GetSpeedLimit

GetSpeedOverride

GetUnrolled

CommandedPosition

Code Feedback

412 None

411 None

1041 Feedback 2:

Acceleration

1116 Feedback 2:

Acceleration

5065 Feedback 1: Speed

1042 Feedback 2:

Deceleration

1117 Feedback 2:

Deceleration

1065 Feedback 1: Speed

GetEnablePositionBand 1538 Feedback 2: Position

GetPositionLimit

GetRolloverLimit

1505

1539

Feedback 2: Position

Parameters

None

Parameter 1: Direction

1066 Feedback 2: Speed None

1513 Feedback 2: Percentage None

547 Feedback 2: Position None

GetUnrolledPosition

SetAccel

SetAccelMax

SetDecel

546 Feedback 2: Position

2041 None

2116 None

2042 None

SetDecelMax

SetDefaultSpeed

2117 None

2065 None

SetEnablePositionBand 2538 None

SetPosition 2053 None

SetPositionLimit 2505 None

SetRolloverLimit

SetSpeedLimit

SetSpeedOverride

2539

2066

2513

None

Parameter 3: Acceleration

Parameter 3: Deceleration

Parameter 1: Speed

Parameter 3: Position

Parameter 1: Direction

Parameter 3: Position

Parameter 1: Direction

Parameter 3: Position

Parameter 3: Speed

Parameter 3: Percentage

350

TLX DS 57 PL7 xx

Appendices

Diagnostic

Functions

The following table lists the diagnostic functions:

Function

GetAxisId

GetCommandedPosition 1053 Feedback 2: Position

GetCombinedControl 1534 Feedback 1: Movement control bits

GetControl

Code Feedback

523 Feedback 1: Axis identifier

Parameters

None

1525 Return 1: Movement control bits

None

GetMotionFault

GetMotionWarning

5510 Feedback 1: List of faults None

5511 Return 1: List of warnings None

GetMoveQueueLength 9510 Feedback 1: Length

GetNumberInSet 541 Feedback 1: No. of axes

None

Configuration

Functions

The following table lists the configuration functions:

Function

GetAccelType

GetGearRatio

SetAccelType

SetGearRatio

Code Feedback Parameters

1540 Feedback 1: Acceleration type None

None 1500 Feedback 2: Numerator

Feedback 3: Denominator

2540 None

2500 None

Parameter 1: Acceleration type

Parameter 3: Numerator

Parameter 4: Denominator

TLX DS 57 PL7 xx

351

Appendices

Accessible Functions for a Remote Axis

Movement

Control

Functions

The following table lists the movement control functions:

Function

ForcedHome

Home

Code Feedback

6039 None

6034 None

Unhome 6038 None

Parameters

None

Parameter 3: Direction

Parameter 4: Speed

None

Adjustment

Functions

Diagnostic

Functions

The following table lists the adjustment functions:

Function

DisableRollover

EnableRollover

GetRolloverLimit

GetUnrolledPosition

SetPosition

SetRolloverLimit

Code Feedback

412 None

411 None

1539 Feedback 2: Position

546 Feedback 2: Position

2053 None

2539 None

Parameters

None

Parameter 1: Direction

None

Parameter 3: Position

Parameter 1: Direction

Parameter 3: Position

The following table lists the diagnostic functions:

Function

GetAxisId

GetCombinedControl

GetControl

GetMotionFault

GetMotionWarning

GetNumberInSet

GetSercosAddress

Code Feedback

523 Feedback 1: Axis identifier

1534 Return 1: Movement control bits

1525 Return 1: Movement control bits

Parameters

None

5510 Feedback 1: List of faults None

5511 Return 1: List of warnings None

541

549

Feedback 1: No. of axes

Feedback 1: Address

None

Parameter 1: Axis

352

TLX DS 57 PL7 xx

Configuration

Functions

Appendices

The following table lists the configuration functions:

Function

GetGearRatio

SetGearRatio

Code Feedback

1500 Feedback 2: Numerator

Feedback 3:

Denominator

2500 None

Parameters

None

Parameter 3: Numerator

Parameter 4: Denominator

TLX DS 57 PL7 xx

353

Appendices

Accessible Functions for a Group of Co-ordinated Axes

Movement

Control

Functions

The following table lists the movement control functions:

Function

Home

Code Feedback

6034 None

Parameters

Parameter 3: Direction

Parameter 4: Speed

Movement

Functions

Adjustment

Functions

The following table lists the movement functions. In the MoveImmed and

MoveQueue functions, use n registers (starting at Parameter 3, where n is the number of axes in the co-ordinated group) to specify the positions for all the axes in the co-ordinated group. Then use n additional registers (starting at Parameter n+3) to specify the speeds for all the axes.

Function

MoveImmed

Code Feedback

513 None

MoveQueue 520 None

Parameters

Parameter 1: Type

Parameter (2 + n) : Position

Parameter (n + 3) -> (2n + 3):

Speed

Parameter 1: Type

Parameter (2 + n): Position

Parameter (n + 3) -> (2n + 3):

Speed

The following table lists the adjustment functions:

Function

GetActualSpeed

GetDefaultSpeed

GetSpeedOverride

SetDefaultSpeed

SetSpeedOverride

Code Feedback

5065 Feedback 1: Speed

Parameters

None

1065 Feedback 1: Speed None

1513 Feedback 2: Percentage None

2065 None

2513 None

Parameter 1: Speed

Parameter 3: Percentage

354

TLX DS 57 PL7 xx

Diagnostic

Functions

The following table lists the diagnostic functions:

Function

GetAxisId

GetCombinedControl

GetControl

Code Feedback

523

Parameters

Feedback 1: Axis identifier None

None 1534 Return 1: Movement control bits

1525 Return 1: Movement control bits

None

GetMotionFault

GetMotionWarning

5510

5511

Feedback 1: List of faults

Return 1: List of warnings

GetMoveQueueLength 9510 Feedback 1: Length

None

Appendices

TLX DS 57 PL7 xx

355

Appendices

Accessible Functions for a Group of Slave Axes

Adjustment

Functions

The following table lists the adjustment functions:

Function

DisableRollover

EnableRollover

GetAbsFollowerBias

GetCamProfile

GetFollowerBias

GetFollowerMode

Code Feedback

412 None

411 None

1526 Feedback 1: Position

1530 Feedback 1: Profile identifier

1527 Feedback 2: Position

1529 Feedback 1: Follower mode

Parameters

None

Parameter 1: Axis identifier

GetFollowerRatio

GetMasterOffset

GetSpeedOverride

GetMasterTriggerPosition 1531 Feedback 2: Position

SetFollowerRatio 2114 None

SetMasterOffset

1114 Feedback 2: Numerator

Feedback 3:

Denominator

1532

1513

2532

Feedback 2: Position

Feedback 2: Percentage

None

Parameter 1: Axis identifier

None

Parameter 1: Axis identifier

Parameter 3: Numerator

Parameter 4: Denominator

Parameter 1: Axis identifier

Parameter 3: Position

SetMasterTriggerPosition 2531 None

SetSpeedOverride 2513 None

Parameter 1: Axis identifier

Parameter 3: Position

Parameter 3: Percentage

356

TLX DS 57 PL7 xx

Appendices

Diagnostic

Functions

The following table lists the diagnostic functions:

Function

GetAxisId

GetCombinedControl

GetControl

GetMotionFault

GetMotionWarning

GetNumberInSet

Code Feedback

523 Feedback 1: Axis identifier

Parameters

None

None 1534 Return 1: Movement control bits

1525 Return 1: Movement control bits

None

5510 Feedback 1: List of faults None

5511 Return 1: List of warnings None

541 Feedback 1: No. of axes None

Configuration

Functions

The following table lists the configuration functions:

Function

GetMaster

SetFollowerConfig

SetMaster

Code Feedback Parameters

1528 Feedback 1: Axis identifier None

420 None

2528 None

Parameter 1: Axis identifier

Parameter 2: Follower mode

Parameter 3: Numerator or profile ID

Parameter 4: Denominator

Parameter 1: Axis identifier

TLX DS 57 PL7 xx

357

Appendices

Accessible Functions for a Cam Profile

Adjustment

Functions

The following table lists the adjustment functions:

Function

Length

Code

534

LookUpFollowerPosition 537

Feedback

Feedback 2: Slave position

Parameters

Feedback 1: Table length None

Parameter 3: Master position

Configuration

Functions

The following table lists the configuration functions:

Function

GetCoord

GetInterpType

SetCoord

SetInterpType

Code Feedback

532 Feedback 1: Master position

Feedback 2: Slave position

530

533

Feedback 1: Interp. type

None

Parameters

Parameter 1: Table index

None

Parameter 1: Table index

Parameter 3: Master position

Parameter 4: Slave position

531 None Parameter 1: Interp. type

358

TLX DS 57 PL7 xx

Index

Symbols

"Cam profile" function

SERCOS® module, 72

"co-ordinated axis group" function

SERCOS® module, 67

"imaginary axis" function

SERCOS(r) module, 64

"real axis" function

SERCOS(r) modules, 63

"remote axis" function

SERCOS(r) module, 65

"SERCOS®" function, 62

"slave axis group" function

SERCOS® module, 70

A

ABS_MOVE, 150

ABS_MOVE_NEG, 150

ABS_MOVE_POS, 150

acceleration/deceleration parameter

AccelerationType, 193

access to module parameterization

SERCOS® module, 77

ACTION_CMD, 324

Activation of LEDs

SERCOS® module, 312

TLX DS 57 PL7 xx

A C

Adjusting an individual axis

SERCOS® Module, 335, 337

adjustment screen

general, 171

real or imaginary axes, 175

remote axes, 177

SERCOS® ring, 245

slave axes, 209

TRF_RECIPE function, 179, 239

adjustment functions

SERCOS® module, 343, 345, 349, 352,

354, 356, 358

ALLOW bit, 134

ALLOW Bits, 135

axis command module parameters

SERCOS(r) module, 320

Axis configuration

Axis X à Axis E

AXIS_MANUAL_MODE, 124

Axis_Manual_Mode, 142

359

Index

AXIS_NEG_LIMIT, 121

AXIS_NOT_FOLLOWING, 107

AXIS_POS_LIMIT, 120

AXIS_READY, 130

AXIS_SUMMARY_FAULT, 115, 312

AXIS_WARNING, 122

B

BIAS_REMAIN, 123

C

Cam

SERCOS® module, 72

cam mode

SERCOS® module, 70

cam profile parameters

InterpType, 237

length, 233

LookUpFollowerPosition, 234

ProfileId, 235, 238

Came

SERCOS® Module, 211

CamProfile configuration

SERCOS® Module, 94

Channel 0

SERCOS® module, 62

channel diagnostics, 276 channel fault, 276

Communication Errors

SERCOS® Module, 306

concept of the group

SERCOS® module, 66

CONF_OK, 131

configuration functions

SERCOS® module, 345, 352, 356, 358

configuration of the channels

SERCOS® module, 79

configuration of the module

cycle time

360 cyclic data

D

debug

screen

declaration of the module

SERCOS® module, 77

Défauts voie

SERCOS® module, 296

deletion of a module

SERCOS® module, 77

diagnostic functions

SERCOS® module, 343, 345, 352, 354,

356

diagnostic module, 275

digital link

drive parameters

DRIVE_REALTIME_BIT1, 125

DRIVE_REALTIME_BIT2, 126

DRIVE_WARNING, 112

drives

SERCOS(r) modules, 63

TLX DS 57 PL7 xx

E

enable position checking

SERCOS® module, 81

Enter symbols

SERCOS® module, 38

F

faulty channel

flow

G

GetActualPhase, 280

GetActualSpeed, 161

GetCommandedPosition, 165

GetCommandPhase, 281

GetCommandSpeed, 162

GetMotionFault, 291

GetMotionWarning, 293

GetMoveQueueLength, 157

GetNumberInSet, 286

GetNumberOfDrivesInRing, 284

GetSercosAddress, 283

GetSpeedOverride, 158

GetUnrolledCommandedPosition, 164

GetUnrolledPosition, 163

H

HOLDING, 108

Home, 143, 145

I

IDN, 18, 253

IDNs for customized telegrams, 256

IDNs for diagnostics, 253

IDNs for drives, 253

IDNs for the gains parameters, 253

TLX DS 57 PL7 xx

IDNs for the probe, 253

implementing a real axis

SERCOS® module, 26

implementing a remote input

SERCOS® module, 26

implementing an imaginary axis

Input Word and Bit

instruction

Internal variable symbols

SERCOS® module, 38

Interpolation

SERCOS® module, 72

IsLoopUp, 285

L

Limit parameter IDNs, 253

limits

SERCOS® module, 81

M

manual mode, 140

manufacturing parameters

MAST task

Master

Master increment

Module faults

modulo

movement

Index

361

Index movement control functions

SERCOS® module, 343, 345, 349, 352,

354, 356

movement functions

SERCOS® module, 345, 349, 354

MovementControl, 66, 135

MovementSet, 66

MovementWarning, 293

MoveQueue, 155

N

non-cyclic data

SERCOS® module, 18

O

operating modes

Optical power

optical power

Output Bits and Words

SERCOS® module, 332

P

PARAM_CMD, 324

parameters of a slave group

FollowerConfig, 217

performance optimization

SERCOS® module, 60

position limit and modulo parameter

EnableRollover, 201

PositionLimit, 196

RolloverLimit, 200

position limit parameter

InPositionBand, 203

Position parameter IDNs, 253

premium package

Presymbolization

362

programming errors

R

RAMPING, 100

Ratio

SERCOS® Module, 211

ratio mode

SERCOS® module, 70

Read/Write Functions for IDN Parameters,

343

read/write functions for IDN parameters, 345

reference speed

remote value

resolution parameters

S

SAVE_PARAM, 323

scale factor

SERCOS® module, 81, 86

Scaling parameter IDNs, 253

SERCOS Architecture, 20

Sercos ring parameters

OpticalPower, 247

SERCOS® function adjustment, 334

SERCOS® Phases Standard, 279

Set_Functional_Mode, 142

SetCommandPhase, 281

SetPosition, 148

SetSpeedOverride, 158

Slave

SERCOS(r) module, 90

TLX DS 57 PL7 xx

slave group parameters

MasterTriggerPosition, 225

Slave increment

SERCOS® Module, 94

SlaveMode

SERCOS® module, 214

Special function

SERCOS® module, 88

speed drive parameters

SERCOS(r) module, 320

speed modulation coefficient

speed parameter

Speed parameter IDNs, 253

standard EN 61491, 17

STEADY, 101

stop and bias sequence

SERCOS® module, 70

STOPPING, 102

Syntax of the symbols

SERCOS® module, 76

System Errors

SERCOS® Module, 307

System warnings

SERCOS® Module, 309

T

tangential speed

SERCOS® module, 67

Torque/motor parameter IDNs, 253

trajectory calculation

SERCOS® module, 20

TRF_RECIPE, 179, 239, 241

TypeMouvement, 152

TLX DS 57 PL7 xx

U

Unhome, 147

units, 81, 86

V

variable speed controller connection

SERCOS® module, 35

Index

W

WRITE_CMD, 324

WRITE_PARAM, 322

363

Index

364

TLX DS 57 PL7 xx

Premium PLC Applications

Movement Control with TSX CSY

84 SERCOS® Module

Application Setup Manual

Related Documentation

Table of Contents

Chapter 1

Chapter 2

Chapter 3

Chapter 4

Chapter 5

Chapter 6

Chapter 7

Chapter 8

Chapter 9

Chapter 10

Chapter 11

About the book

At a Glance

The SERCOS® Offer in TSX

Premium PLCs

At a glance

SERCOS® Architecture

At a glance

Introduction

Introduction to SERCOS® architecture

Setup methodology

At a glance

Introduction

Implementing an Independent Axis

Implementation of a co-ordinated or slave axis group

Tutorial

At a glance

Description of the example

Trajectory description

Description of commands in manual mode

Prerequisites and methodology

Variable Speed Controller Configuration

Module TSX CSY 84 configuration

Symbolization

Symbolization of TOR input/output modules

Axis command module symbolisation:

Programming preprocessing

Programming the Grafcet chart

Transitions programming

Actions programming

Programming of post-processing

Program transfer

Adjusting the Parameters

Introduction to the Debug Mode

Motion control with a TSX CSY 84 module

At a glance

Functional description

Introduction

Module Functions

"SERCOS®" function

"Real Axis" Function

"Imaginary Axis" Function

"Remote Axis" Function

Concept of the Group

"Co-ordinated Axis Group" Function

"Slave Axis Group" Function

"Cam Profile" Function

Configuration

At a glance

Presymbolization

Module Configuration

Configuration of the Channels

Configuration of the SERCOS® Function (channel 0)

Configuring an Independent Axis (Channels 1 to 12)

Configuration of a Remote Axis (Channels 13 to 16)

Configuration of a set of coordinated axes (channels 17 à 20)

Configuration of a set of follower axes (channels 21 to 24)

CamProfile configuration (channels 25 to 31)

Programming

Introduction

6.1

Motion Status Bits

At a glance

Bit RAMPING (%Ixy.i.0)