Validity Note The updated of this manual takes into account the functionality of PL7 V4. Nevertheless it can be used for the implementation of previous versions of PL7.

Revision History

Rev. No.

Changes

Stepper motor axis control (specific functions)

Related Documents

Title of Documentation

Hardware installation manual

Reference Number

TSX DM 57 40E

Product Related

Warnings

User Comments We welcome your comments about this document. You can reach us by e-mail at

[email protected]

TLX DS 57 PL7 40E 09.2000

About the book

TLX DS 57 PL7 40E 09.2000

General on step by step axes control

Introduction

Subject of this chapter

What’s in this

Chapter?

This chapter introduces step by step axes control, describes it and the associated application-specific functions.

This Chapter contains the following Maps:

Topic

Introduction to the step by step axes control environment

Functionality offered by the axes control modules

General on the step by step axes control

Page

TLX DS 57 PL7 40E 09.2000

General

Introduction to the step by step axes control environment

Introduction The configuration of a step by step axes control architecture is as follows:

Pulses Translator

TSX Premium

Step by step motor

TSX CFY 21

Step by step axes control environment

PL7 Junior/Pro

End of run and reference point cams

The step by step axes control environment for TSX Premium PLCs is made up of 2 modules: l l

TSX CFY 11 (1 limited linear axis),

TSX CFY 21 (2 independently limited linear axes).

The PL7 software integrates basic application-specific step by step movement supporting the programming of these step by step axes control modules.

Basic movements are driven from the machine’s principal sequential control program, but carried out and controlled by the TSX CFY modules.

These modules control the rotation speed of a step by step motor, its accelerations and decelerations by delivering a frequency command to a translator (fmax = 187

KHz). The translator transforms each impulse into a basic movement of the step by step motor.

Control of the step by step motor is carried out in open loop. End of run, reference point and event inputs allow the module to control the movements of the moving part on the axis.

Some translators include a step failure mechanism: this information is put at the disposition of the user program which can initiate a new reference point.

The step by step axes control environment also includes the TSX CXP 611 cable to link the TSX CFY11/21 modules directly to the MSD and MS translators from the manufacturer Phyton Lektronik GmbH.

TLX DS 57 PL7 40E 09.2000

General

Functionality offered by the axes control modules

General

The axes control modules offer application inputs and outputs for each axis which allow you to implement the different functions.

The following structural breakdown presents the inputs/outputs associated to a channel:

Enabling monitoring

Command check

Modes

Operating parameters

Status

Pulse generator

Cams and limits

Enabling translator

Boost

+ Pulses

- Pulses or directions

Translator check

Losing steps

Resetting step loss command

Brake

Emergency stop

External stop

End of run limit - direction

End of run limit + direction

Reference point cam

External event

TLX DS 57 PL7 40E 09.2000

General

Application inputs/outputs

Programming a movement

The step by step axes control modules offer for each of the axes:

for auxiliary inputs/outputs: l l l l l l l l l l l one cam reference point input, two end of run inputs, one event input, one emergency stop input, one external stop input, l one static output for the axis brake.

for translator inputs/inputs: one translator check input, one step failure control input, one differential translator validation output, two differential impulse outputs, one positive, one negative, one differential step by step motor boost output, one differential step failure reset output.

In PL7 language, each movement is described by a movement command function

SMOVE. From this command SMOVE and the position of the moving part, the TSX

CFY module works out the position/speed setpoint and generates the pulses for this movement.

These parameters support the definition of specifications of use, limits,… Configuration and control parameters

TLX DS 57 PL7 40E 09.2000

Specific functionality of

TSX CFY modules

General

Functionality offered by the step by step axes control modules is as follows: l Event processing: the events detected by the module can be used to activate a sequential task in the sequential program.

l Boost command: this function allows you to boost the step by step motor during acceleration or deceleration phases.

l Brake command: this function allows you to control the brake of the step by step motor when starting and stopping the movement.

l l

Feed hold: this function allows you to stop the movement in progress momentarily.

Deferred pause: this function allows you to stop a machine cycle momentarily without disrupting it.

l l

end of run limits: overshooting these limits triggers the stopping of the movement. Having overshot an end of run limit, only return movements between the limits are accepted.

External stop: activation of the external stop input triggers the stopping of the l movement.

Step failure input and step failure control reset output: these functions allow you, via the application, to manage step failure information originating from the translator. For the module, the activation of step failure input does not constitute a stop condition, nor an error condition.

TLX DS 57 PL7 40E 09.2000

General

General on the step by step axes control

Introduction to specific functions

The specific functions of step by step axes control apply to the whole control system made up of: l l l l l l the command the translator the step by step motor.

The important ideas are as follows: the start stop frequency SS_FREQ the boost the brake output

Diagram of the step by step axes control system

This diagram describes a typical step by step axes control system.

Command Translator Step by step motor

Description

Block

Command

Description

The command function is carried out by a channel of a TSX FCY 11 or 21 module. The principal function of this channel is to provide a series of pulses of constantly controlled frequency, in order to carry out the required functions.

Translator The translator’s essential function is to transform each received pulse into a step (elementary rotation) of the motor, by circulating suitable currents in its windings.

Step by step motor

Step by step motors are built according to different technologies. For example permanent magnet motors, variable reluctance motors and hybrid motors which combine the two techniques. Furthermore, different winding solutions exist on the market: two, four or five phase motors.

Each type of motor is thus associated with a specific type of translator optimized for its technology.

TLX DS 57 PL7 40E 09.2000

Start stop frequency

Boost

Brake output

General

The control of different step by step systems must generally obey a common restraint, due to the response of the inertial system (motor and axis) to a pulsed command. The common constraint is the start stop frequency.

The start stop frequency is the frequency at which the motor can stop or start without ramp and without losing step. Its maximum threshold depends upon the external inertia related to the motor axis. Its average value is 400 Hz in a 1/2 step (1 turn/sec) and can be critical beyond 600/800 Hz (1.5 to 2 turns/sec) (typical values for Phytron

Elektronik tranlators/200 step motors/lathes).

This constraint exists at the stopping as at the starting of all movements, whence its name: start stop frequency, SS_FREQ. The TSX CFY modules allow you to adjust this value.

Note: in this manual, the terms frequency and speed are used interchangeably.

In the same way, the units of pulse position and pulse are the same. It is the same for the units of speed Hertz and Pulses/s and the acceleration units Hertz/s and

Pulses/s

Some translators have a boost input. This function consists in increasing the current in the motor windings.

The boost output from a channel of a TSX CFY module controls this input to the translator. It is thus possible to control the intensity of the motor current in synchronization with the movement. Notably automatic control mode for this output supports its activation during acceleration and deceleration phases.

When a brake is present on the axis, this static output supports its control in synchronization with the movement or at the request of the user.

This function is useful when you want to interrupt the supply to the motor in load carrying applications.

Note: when the channel is in the safety position, this output makes the brake active

(generally the brake is active when voltage is absent).

TLX DS 57 PL7 40E 09.2000

General

TLX DS 57 PL7 40E 09.2000

Implementation methodology

Implementation methodology for step by step axes control

Structural breakdown of the implementation methodology of a step by step axis

The following flowchart summarizes the different implementation phases. In order to fully understand the different phases, please also look at the Introductory example

TLX DS 57 PL7 40E 09.2000

Methodology

(See

Introductory example, p. 23) which complements this flowchart.

In local mode

Configuration editor

Registering the module in the

PLC configuration

Configuration of axis parameters

Configuration editor

Configuration and adjustment modes

Design

Programming movements (2)

Program editor

(1)

Transferring the application to

PLC memory

In connected mode

Adjustment and

Debugging

Adjusting axes parameters

Tests and debugging

Configuration editor

Adjustment mode

Configuration editor

Debugging mode

Documentation editor

Folder editor

In connected mode

Operation

CCX 17

TLX DS 57 PL7 40E 09.2000

Methodology

(1) If before the programming phase, you want to switch into manual mode, the moving part on different axes, it is possible to miss out step 3. On the other hand, steps 1, 2, 4, 5 and

6 are mandatory.

(2) The programming phase can be preceded by a phase of variable pre-symbolization, carried out using the variables editor. Pre-symbolization allows you to automatically generate the axes control module symbols.

TLX DS 57 PL7 40E 09.2000

Methodology

TLX DS 57 PL7 40E 09.2000

Introductory example

Introduction

Subject of this chapter

What’s in this

Chapter?

This chapter describes the implementation of an axes control application with the help of a TSX CFY module. This instructional example allows you to follow all the phases necessary to the implementation of step by step axis control.

This Chapter contains the following Maps:

Topic

Description of the example

Prerequisites

Configuring the TSX CFY module

Adjusting the TSX CFY module

Symbolization of variables in the example

Programming preliminary processing

Programming Grafcet

Programming transitions

Programming actions

Programming subsequent handling

Program transfer

Taking over in manual mode

Debugging

Archiving

Page

TLX DS 57 PL7 40E 09.2000

Introductory example

Description of the example

Introduction

Transfer device

The following example allows you to follow all the implementation phases of a TSX

CFY axes control application. It complements the implementation methodologies.

A transfer device removes parts coming out of machining. This device is made up of a claw that can move in space (X, Y axes) on a plane parallel to the ground.

As soon as a part appears on output conveyor belt A, the claw automatically goes to fetch it and put it on belt B or belt C according to the part type. Then the claw returns to the stand-by position and will move again as soon as a new machined part is detected.

The following picture illustrates the transfer device:

Machining device

Conveyor belt A

Conveyor belt B

Conveyor belt C

TLX DS 57 PL7 40E 09.2000

Inputs/outputs

Introductory example

The inputs/outputs are as follows:

I/O

Description

Detector to detect the presence of machined part

Sensor to identify the part type.

Sensor to detect claw open / claw closed.

Detector to detect edge of part (situated in the claw), linked to the event input from the module.

ENC0

ENC1

Incremental encoder of position in the X axis.

Incremental encoder of position in the Y axis.

O/F claw Open / close claw command.

Grafcet for the application

The Grafcet for the application is as follows:

Reference point

Referenced axes

Movement to standby position

Detection of a machined part

Movement to conveyor belt A

Detection of edge of part and claw stationary

Close claw

Type 1 part and claw closed

Movement to conveyor belt B

Claw stationary

Open claw

Claw open

Type 2 part and claw closed

Movement to conveyor belt C

Grab stationary

TLX DS 57 PL7 40E 09.2000

Introductory example

Description of the trajectory

The following diagram describes the trajectory of the claw:

Y_LMAX

Conveyor belt A

Standby position

Conveyor belt B

Conveyor belt C

X_LMIN

X_LMAX

Y_LMIN

1 Reference point at speed Vp0,

2 Movement at speed Vret to the stand-by position (Xatt, Yatt) with stop,

3 Movement towards belt A (XA, YA) at speed VA, as far as detection of the machined part,

4 Movement towards belt B (XB, YB) at speed VB, with stop,

6 Movement towards belt C (XC, YC) at speed VC, with stop,

5, 7 Movement at speed Vret to the stand-by position (Xatt, Yatt), with stop.

TLX DS 57 PL7 40E 09.2000

Introductory example

Operator dialog panel

The following controls grouped on a panel, allow you to drive the moving part manually when the installation has failed. The controls and the indicators are managed by a discrete input module and a discrete output module.

Auto X Y Error

Manual Select axis

Start cycle

Reference point

Ack.

Error

Stop cycle

Reverse Forward Emergency stop

Open claw

Close claw

Auto / Manual Operating mode selection switch.

Start cycle Executes automatic cycle.

Stop cycle Stops automatic cycle.

Select axis X / Y Selects axis to be driven in manual mode.

Reference point Manual reference point on selected axis.

Forward / Back Controls manual movement in the selected axis, in the positive or negative direction.

Error Indicator of all hardware faults and application errors.

Ack. Error Fault acknowledgement command.

Emergency stop Immediate halt of the moving part, regardless of which mode is selected.

Open claw Open claw command.

Close claw Close claw command.

TLX DS 57 PL7 40E 09.2000

Introductory example

Prerequisites

Prerequisites In order that only functions specific to axis control are described, it is assumed that l l the following operations have been carried out:

PL7 software is installed,

The hardware installation has been carried out: modules, translators driving the

2 axes have been cabled.

TLX DS 57 PL7 40E 09.2000

Introductory example

Configuring the TSX CFY module

Software declaration in the

PLC configuration

Start the PL7 software, select the command File

→

New, select a Premium processor and check the Grafcet option.

From within the Application Browser, access the configuration editor in the following way:

Step

Action

Open the folder Station (double click on the icon or click on its attachment).

Open the folder Configuration (double click on the icon or click on its attachment).

Double click on the icon Hardware configuration.

You must then select each constituent of the PLC configuration. The following selections have been made in this application: l l l l l l rack 0 and rack 1: TSX RKY 8E, processor: TSX P57 203 V5.0, supply modules: TSX PSY 2600 for rack 0 and TSX PSY 5500 for rack 1,

32 inputs module: TSX DEY 32D2K in position 3 in rack 0,

32 outputs module: TSX DSY 32T2K in position 4 in rack 0, axes control module: TSX CFY 21 in position 3 in rack 1,

Module configuration screen

Configuration

TSX 57203 V5.0...

XMWI

XTI..

2 3

5 6

1 2 3

4 5 6

TLX DS 57 PL7 40E 09.2000

Introductory example

Enter the axes configuration parameters

For each axis, enter the configuration parameters in the following way:

Step

Action

Select position 3 in rack 1 then execute the command Edit

→

Open module or double click on the selected module).

Configure the parameters of channel 0. To do that: l l l select the function Positioning, select the task MAST, enter the parameters, in accordance with the following screen:

Configuration screen for channel 0

TSX CFY 21 [RACK1 POSITION 3]

Configuration

Designation: MOD.MOT.PAS A PAS 2 VOIES

Symbol:

Choose Axis: Function:

Channel 0 Positioning

Task:

MAST

Unit

Acceleration ms

Command mode

A = +Pulse/ B = -Pulse

Command parameters

Max. speed

Acc max.

VMax/

18 000

200

Event input

Rising edge

Falling edge

Hertz ms

Drive inversions

Enable output

Input Check

Direction of command

Reference point

Short cam / - Direction

Boost

Automatic control

Inversion

Brake

Automatic control

Inversion

Event

EVT

3 Confirm your entries using the command Edit

→

Confirm or by clicking on the icon

4 Carry out the same configuration for channel 1 of the module by repeating the procedure from step 2 for channel 1.

TLX DS 57 PL7 40E 09.2000

Introductory example

Adjusting the TSX CFY module

Inputting axes adjustment parameters

For each axis, enter the configuration parameters in the following way:

Step Action

1 Select position 3 in rack 1 then execute the command Edit

→

Open module (or double click on the selected module).

2 Click on the arrow situated to the right of the Configuration field and select Ad-

justment.

3 Configure the adjustment parameters for channel 0. To do this: l l select channel 0, enter the adjustment parameters, in line with the following screen:

Adjustment screen for channel 0

TSX CFY 21 [RACK1 POSITION 3]

Configuration

Designation: MOD.MOT.PAS A PAS 2 VOIES

Symbol:

Choose Axis: Function:

Channel 0 Positioning

Task:

MAST

Unit

Acceleration ms

Command mode

A = +Pulse/ B = -Pulse

Command parameters

Max. speed

Acc max.

VMax/

18 000

200

Event input

Rising edge

Falling edge

Hertz ms

Drive inversions

Enable output

Input Check

Direction of command

Reference point

Short cam / - Direction

Boost

Automatic control

Inversion

Brake

Automatic control

Inversion

Event

EVT

TLX DS 57 PL7 40E 09.2000

Introductory example

Step

Action

Confirm your entries using the command Edit

→

Confirm or by clicking on the icon

Carry out the same adjustments for channel 1 of the module by repeating the procedure from step 3 for channel 1

Then confirm the global configuration using the command Edit

→

Confirm or by clicking on the icon

TLX DS 57 PL7 40E 09.2000

Introductory example

Symbolization of variables in the example

Entering symbols

Access to symbols entry is by means of a double click in the Application Browser, then on the icons Variables and I/O.

Symbols entry screen

File Edit Utilities

PL7 Junior: CINZIA2 - [Variables]

View Application AP Debug Options Window ?

Parameters I/O Module address

Address Type Symbol

%I3.10

%I3.5

%I3.12

%I3.9

%I3.3

%I3.8

%I3.0

%I3.1

%I3.2

EBOOL ACQ_DEFAUTS

EBOOL ARRET_CYCLE

EBOOL ARRET_URGENCE

EBOOL Reverse

EBOOL AUTO_MAN

EBOOL Forward

EBOOL SENSOR_1

EBOOL CAPTEUR_2

EBOOL SENSOR_3

%I3.4

%I3.14

%I3.13

%I3.7

EBOOL DEPART_CYCLE

EBOOL FERM_PINCE

EBOOL OUV_PINCE

EBOOL PO_MAN

%I36

%CH3MOD

EBOOL SELECTION_X_Y

%I3.MOD.ERR

BOOL

%MW3.MOD

WORD

%MW3.MOD.1

WORD

%MW3.MOD.2

WORD

%CH3.0

%I3.0.ERR

%MW3.0

%MW3.0.1

BOOL

WORD

Ready LOCAL U:SYS

3 Entry field

Comment

Fault acknowledgement push-button to stop automatic cycle emergency stop travel of moving part in negative direction

AUTO or MANU mode selection switch travel of moving part in positive direction cell which detects for presence of machined part sensor for identifying type of part sensor for detecting open claw / closed claw push-button to start automatic cycle push-button to close claw push-button to open claw manual reference point selects axis to be controlled manually

MODIF

Internal variables symbols

The following internal variables are symbolized:

Address Symbol

%M0 Cycle

Comment

Condition of the machine in work mode

%MD50 X_ATTENTE Stand-by position (X axis)

%MD52 Y_ATTENTE Stand-by position (Y axis)

%MD54 X_B Position of belt B (X axis)

%MD56 Y_B

%MD58 X_C

%MD60 Y_C

Position of belt B (Y axis)

Position of belt C (X axis)

Position of belt C (Y axis)

TLX DS 57 PL7 40E 09.2000

Introductory example

Symbols for the discrete inputs module

The discrete inputs module is positioned in slot 3 in rack 0. Its symbols are as follows:

Address Symbol

%I3.0

CAPTEUR_1

%I3.1

%I3.2

CAPTEUR_2

CAPTEUR_3

%I3.3

%I3.4

%I3.5

AUTO_MAN

DEPART_CYC

ARRET_CYCL

I%I3.6

%I3.7

%I3.8

%I3.9

%I3.10

SELECTION_X

PO_MAN

AVANT

ARRIERE

ACQ_DEFAUT

%I3.12

%I3.13

%I3.14

Comment

Detector to detect presence of machined part

Sensor to identify the part type (0 = type 2, 1 = type 1)

Sensor to detect claw open / claw closed

Switch to select mode (0 = Auto, 1 = Manual)

Push button to execute automatic cycle

Push button to stop automatic cycle

Select axis to drive in Manual mode (1 = X, 0 = Y)

Manual reference point

Move the moving part in the positive direction

Move the moving part in the negative direction

Fault acknowledgment

ARRET_URGE

NCE

Emergency stop

OUV_PINCE Push button to open claw

FERM_PINCE Push button to close claw

Symbols for the discrete outputs module

The discrete outputs module is positioned in slot 4 in rack 0. Its symbols are as follows:

Address Symbol

%Q4.0

PINCE

%Q4.1

DEFAUT

Comment

Command to open or close the claw (0 = Open, 1 = Close)

Signals an error

TLX DS 57 PL7 40E 09.2000

Introductory example

Symbols for the axes control module

The axes control module is positioned in slot 3 in rack 1. Its symbols are as follows:

Address

%CH103.0

%I103.0

%I103.0.1

%I103.0.2

%I103.0.3

%I103.0.4

%I103.0.5

%I103.0.6

%I103.0.9

%I103.0.11

%I103.0.12

%I103.0.16

%I103.0.17

%I103.0.18

%I103.0.19

Symbol

AXE_X

DONE

ERROR

HARD_ERR_X

AXIS_ERROR_X

REF_CMD_X

AT_POINT

CONF_X

CALIB

MODE_DRIVE_OFF

MODE_DIR_DRIVE

MODE_MANUEL

MODE_AUTO

%I103.0.35

%Q103.0

%Q103.0.1

%Q103.0.2

%Q103.0.3

%Q103.0.4

%Q103.0.5

%Q103.0.6

VARVALID_X

DIRDRIVE

JOG_P

JOG_M

INC_P

INC_M

SETRP

RP_HERE

%Q103.0.9

%Q103.0.10

ACQ_DEF

ENABLE

%Q103.0.11

EVENT_UC

%MD103.0.22

POSRP

Address

%CH103.1

%I103.1

%I103.1.1

%I103.1.2

%I103.1.3

%I103.1.4

%I103.1.5

%I103.1.6

%I103.1.9

%I103.1.11

%I103.1.12

%I103.1.16

%I103.1.17

%I103.1.18

%I103.1.19

Symbol

AXE_Y

NEXT_Y

DONE_Y

ERROR_Y

OK_Y

HARD_ERR_Y

AXIS_ERROR_Y

REF_CMD_Y

AT_POINT_Y

CONF_Y

CALIB_Y

MODE_DRIVE_OFF_Y

MODE_DIR_DRIVE_Y

MODE_MANUEL_Y

MODE_AUTO_Y

%I103.1.35

%Q103.1

%Q103.1.1

%Q103.1.2

%Q103.1.3

%Q103.1.4

%Q103.1.5

%Q103.1.6

VARVALID_Y

DIRDRIVE_Y

JOG_P_Y

JOG_M_Y

INC_P_Y

INC_M_Y

SETRP_Y

RP_HERE_Y

%Q103.1.9

%Q103.1.10

ACQ_DEF_Y

ENABLE_Y

%Q103.1.11

EVENT_UC_Y

%MD103.1.22

POSRP_Y

TLX DS 57 PL7 40E 09.2000

Introductory example

Internal constants

The speed of the moving part along the different axes is contained in the internal constants. In the case of 2 independent axes, the symbols and the values of these constants are as follows:

Address Symbol

%KD0 VITESSE_P_O

%KD4

Value

5000

Comment

Speed from the reference point along the axis of the X and Y axes

Speed towards the X axis stand-by position

%KD6

%KD8

%KD10

%KD12

%KD14

%KD16

%KD18

VITESSE_X_ATTE

NTE

VITESSE_Y_ATTE

NTE

VITESSE_POS_A_

10000

15000

VITESSE_POS_B_

15000

VITESSE_POS_C_

12000

VITESSE_POS_C_

12000

Speed towards the Y axis stand-by position

Speed towards the X axis belt A position

Speed towards the Y axis belt A position

Speed towards the X axis belt B position

Speed towards the Y axis belt B position

Speed towards the X axis belt C position

Speed towards the Y axis belt C position

TLX DS 57 PL7 40E 09.2000

Introductory example

Programming preliminary processing

Introduction Preliminary processing allows you to manage the operating modes: l l

With a blocking error:

The chart is disabled.

You can then drive the moving part in Manual mode, fix the error and acknowledge it from the panel.

l l l The chart is reinitialized when the error is fixed and acknowledged.

On switching to Manual mode:

The chart is disabled.

The chart is reinitialized when Automatic mode is selected again.

Program in

Ladder language

Initializing positions

%S0

%S1

OPERATE

X_ATTENTE:= 14000

OPERATE

Y_ATTENTE:= 10000

OPERATE

X_B:= 18000

OPERATE

Y_B:= 14000

OPERATE

X_C:= 16000

Y_C:= 2000

OPERATE

Starting cycle

CYCLE

%I103.M>> = %I103.MOD.ERR

DEPART_>> = DEPART_CYCLE

ARRET_>> = ARRET_CYCLE

TLX DS 57 PL7 40E 09.2000

Introductory example

Confirming controller

%I103.M>>

ERROR

ERROR_Y

%I103.M>> = %I103.MOD.ERR

Selecting automatic mode

AUTO_MAN VARVALID_X

VARVALID_Y

OPERATE

%QW103.0:= 3

OPERATE

%QW103.1:= 3

ENABLE

ENABLE_Y

Selecting manual mode

AUTO_MAN

OPERATE

%QW103.0:= 2

OPERATE

%QW103.1:= 2

Disabling chart on error or when switching into manual mode

MODE_>>

OK_Y

MODE_>> = MODE_AUTO

MODE_>> = MODE_AUTO_Y

%M1 = fixed Grafcet

%S23

%M1

TLX DS 57 PL7 40E 09.2000

Reinitializing chart

OK OK_Y MODE_>> MODE_>> %M1

Introductory example

%S23

%S21

%M1

MODE_>> = Mode_AUTO

MODE_>> = MODE_AUTO_Y

%M1 = fixed Grafcet

Signaling errors

OK %S6

OK_Y

Error

Introductory example

Programming Grafcet

Introduction

Sequential handling

Grafcet allows you to program the sequential handling of the operation: the handling of the automatic cycle.

CHART - PAGE 0

(*Start*)

(*Reference point*)

(*Referenced axes*)

(*Movement to standby position*)

(*Detection of machined part*)

3 (*Movement to conveyor belt A*)

(*Detect edge of part*)

(*Type 1 part and claw closed*)

(*Movement to conveyor belt B*)

(*Moving part in position on conveyor belt B*)

(*Close claw*)

(*Type 2 part and claw closed*)

(*Movement to conveyor belt C*)

(*Moving part in position on conveyor belt C*)

(*Open claw*)

(*Claw open*)

TLX DS 57 PL7 40E 09.2000

Introductory example

Programming transitions

Introduction

Step 0 -> 1

Step 1 -> 2

Step 2 -> 3

Step 3 -> 4

Step 4 -> 5

Step 4 -> 8

Step 5 -> 6

Step 8 -> 6

Step 6 -> 2

The transitions drawn in the Grafcet are programmed in the following way:

! (*X channel not in error, claw open, Auto_man switch set to Auto, Y channel not in error and automatic mode activated*)

NOT ERROR AND NOT CAPTEUR_3 AND NOT AUTO_MAN AND CYCLE AND NOT

ERROR_Y AND MODE_AUTO

! (*Test: axes ready and referenced*)

DONE AND CALIB AND DONE_Y AND CALIB_Y

! (*Moving part in stand-by position and part detected on belt A*)

CAPTEUR_1 AND CYCLE AND NEXT AND NEXT_Y

! (*Moving part in position to take part detected on belt A*)

AT_POINT AND NEXT AND NEXT_Y AND AT_POINT_Y

! (*Type 1 part and claw closed*)

CAPTEUR_2 AND CAPTEUR_3

! (*Type 2 part and claw closed*)

NOT CAPTEUR_2 AND CAPTEUR_3

! (*Moving part in position on belt B*)

AT_POINT AND NEXT AND NEXT_Y AND AT_POINT_Y

! (*Moving part in position on belt C*)

AT_POINT AND NEXT AND NEXT_Y AND AT_POINT_Y

! (*Claw open)

NOT CAPTEUR_3 AND CYCLE

TLX DS 57 PL7 40E 09.2000

Introductory example

Programming actions

Introduction In Grafcet it is possible to program actions for each step. Three types of action are possible: l l l on activation continuous on deactivation

When for a given step the type of action is not described, this means that it has not been programmed.

Step 1: Action on activation

! (*Origin taken along the X and Y axes*)

SMOVE AXE_X (1, 90, 14, 0, VITESSE_P_O, 16#0000);

SMOVE AXE_Y (1, 90, 14, 0, VITESSE_P_O, 16#0000);

Step 2: Action on activation

! (*Movement to stand-by position (XATT, YATT*)

SMOVE AXE_X (2, 90, 9, X_ATTENTE, VITESSE_X_ATTENTE, 16#0000);

SMOVE AXE_Y (2, 90, 9, Y_ATTENTE, VITESSE_Y_ATTENTE, 16#0000);

Step 3: Action on activation

! (*Movement towards belt A*)

SMOVE AXE_X (3, 90, 10, 19500, VITESSE_POS_A_X, 16#0000);

SMOVE AXE_Y (3, 90, 10, 19500, VITESSE_POS_A_Y, 16#0000);

Step 4:

Continuous action

! (*Closure of the claw*)

SET PINCE;

Step 5: Action on activation

! (*Movement towards belt B*)

SMOVE AXE_X (4, 90, 9, X_B, VITESSE_POS_B_X, 16#0000);

SMOVE AXE_Y (4, 90, 9, Y_B, VITESSE_POS_B_Y, 16#0000);

Step 8: Action on activation

! (*Movement towards belt C*)

SMOVE AXE_X (5, 90, 9, X_C, VITESSE_POS_C_X, 16#0000);

SMOVE AXE_Y (5, 90, 9, Y_C, VITESSE_POS_C_Y, 16#0000);

Step 6:

Continuous action

! (*Opening of the claw*)

RESET PINCE;

TLX DS 57 PL7 40E 09.2000

Introductory example

Programming subsequent handling

Introduction

MAST - POST

Post-processing allows you to program the management of manual mode.

! (*Test selected mode*)

IF MODE_AUTO AND MODE_AUTO_Y AND CONF_X AND CONF_Y

THEN JUMP %L200;

END_IF;

! (*Selecting the axis to be driven*)

%L100: IF NOT SELECTION_X_Y

THEN JUMP %L200;

END_IF;

! (*Origin taken manually on X axis*)

IF RE PO_MAN

THEN SET SETRP;

END_IF;

IF NOT PO_MAN

THEN RESET SETRP;

END_IF;

! (*Movement of the moving part in the positive direction along the X axis*)

JOG_P:= AVANT;

! (*Movement of the moving part in the negative direction along the X axis*)

JOG_M:= ARRIERE;

%L200: IF SELECTION_X_Y

THEN JUMP %L300;

END_IF;

! (*Origin taken manually on Y axis*)

IF RE PO_MAN

THEN SET SETRP_Y;

END_IF;

IF NOT PO_MAN

THEN RESET SETRP_Y;

END_IF;

! (*Movement of the moving part in the positive direction along the Y axis*)

JOG_P_Y:= AVANT;

! (*Movement of the moving part in the negative direction along the Y axis*)

JOG_M_Y:= ARRIERE;

! (*Opening of the claw*)

%L300: IF AUTO_MAN AND OUV_PINCE

THEN RESET PINCE;

END_IF;

! (*Closure of the claw*)

IF AUTO_MAN AND FERM_PINCE

THEN SET PINCE;

TLX DS 57 PL7 40E 09.2000

Introductory example

END_IF;

! (*Error acknowledgement*)

ACK_DEF:= ACK_DEF_Y:= ACQ_DEFAUTS;

%L999:

TLX DS 57 PL7 40E 09.2000

Introductory example

Program transfer

Procedure for transferring a program

After having configured your application and input your program, you must transfer them into the PLC processor’s memory, by following the procedure below:

Step

Action

Connect the terminal to the PLC using the command AP

→

Connect

Activate the command AP

→

Transfer program.

Select the option Terminal - > PLC.

Confirm the transfer.

TLX DS 57 PL7 40E 09.2000

Introductory example

Taking over in manual mode

Accessing manual mode

If you want to move the moving part without first going through the programming phase, use Manual mode. To do that, access the debug screen, in connected mode:

Step

Action

Activate the command Tools

→

Configuration.

Select the TSX CFY module to be opened.

Execute the command Services

→

Open the module (or double click on the module to be opened).

The following debug screen is then displayed:

File Edit

PL7 Junior: AXIS - [TSX CFY 21 [RACK 0 POSITION 3]]

Utilities View Application AP Debug Options Window

STOP

Debugging

Designation: MOD.MOT.PAS A PAS 2 VOIES Version: 1.0

RUN ERR IO DIAG...

Symbol:

Choose axis: Function:

Channel 0 Positioning

Movement: Pulse Speed: Hertz

Current

Target

0 0

Position

Speed 0%

STOP

Parameter: [-16 777 216, 16 777 215]

Manu

Auto

Dir

Drive

CH0

Global unforcing

DIAG...

Off

Remainder

DONE

-Direction

AT Point

Axis

Referenced

Stopped

Enable

Commands

- JOG

- INC

+ JOG

+ INC

Manual reference point

I/O

Extern Stop

+ Limit

- Limit

RP Cam

Event Cam

Ctrl transl

Loss of step

Reactivate st

Faults

Refuse Cmd

Hardware

Axis

Forced reference point

Brake

Boost Ack.

CONNECT RUN U:SYS

TLX DS 57 PL7 40E 09.2000

Movements in manual mode

Introductory example

To move the moving part in Manual mode, you must carry out the following operations:

Step

Action

Put the PLC into RUN mode, using the command AP

→

Run or by clicking on the icon

Select the axis to drive: channel 0 (X axis) or channel 1 (Y axis).

Select Manual mode by turning the switch to Manu mode.

Confirm the safety relays of the speed controller by clicking on the button Con-

firmation in the Axis box.

Acknowledge the errors by clicking on the button Ack in the Errors box.

Take a manual origin: l l either by selecting the command Manual reference point, or by selecting the command Forced reference point. In this case, first enter in the Param field, the value of the position of the moving part in relation to the origin.

Move the moving part: l l in the positive direction by using the command JOG+, or in the negative direction by using the command JOG-.

The position of the moving part is displayed in the field X and the speed is displayed in the field F in the Movement / Speed box.

TLX DS 57 PL7 40E 09.2000

Introductory example

Debugging

Debugging procedure

You can debug the program by proceeding in the following manner:

Step

Action

Put the PLC into RUN mode.

Display the debugging screen for the TSX CFY module.

Simultaneously display the Grafcet screen in order to follow the evolution of the sequential processing.

The following screen shows the debugging screen and the Grafcet screen together:

File File Edit Edit Utilities View Application AP Debug Options Window

GRAFCET: MAST - CHART

STOP

Debugging

Designation: MOD.MOT.PAS A PAS 2 VOIES Version: 1.0

(*Start*)

RUN

(*Referenced axes*)

Symbol:

Choose axis: Function:

Channel 0

Dir

Drive

ERR IO

CH0

Global unforcing

Movement: Pulse Speed: Hertz

Current

52 282

Target

500 000

F 0 0

(*Detection of edges>>

Remainder

447 718

DONE

-Direction

AT Point

Axis

Referenced

Stopped

Position

Speed 0%

Commands

- JOG

Enable

+ JOG

DIAG...

I/O

Extern Stop

+ Limit

- Limit

RP Cam

Event Cam

Ctrl transl

Loss of step

Reactivate step

Faults

Refuse Cmd

- INC + INC Hardware

Manual reference point

Axis

STOP

Forced reference point

Brake

Boost

Ack.

Parameter: [-16 777 216, 16 777 215] CONNECT RUN U:SYS

Start the program by pressing the Depart_cycle button on the panel.

TLX DS 57 PL7 40E 09.2000

Introductory example

Archiving

Storing procedure

When the debugging is finished you must proceed to storage. To do that:

Step

Action

If parameters have been modified during debugging, activate the command

Services

→

Save parameters.

l l l l

Transfer the application from the PLC processor to the hard disk:

Activate the command AP

→

Transfer program option PLC -> terminal,

Activate the command File

→

Save as, give a name to the application, confirm.

TLX DS 57 PL7 40E 09.2000

Introductory example

TLX DS 57 PL7 40E 09.2000

Configuring step by step axes control

Introduction

Subject of this chapter

What’s in this

Chapter?

This chapter describes the configuration screens in the TSX CFY modules.

This Chapter contains the following Maps:

Topic

Configuring axes control modules

Declaring axes control modules

Accessing the parameters configuration screen

Configuring user units

Configuring the translator’s command mode

Configuring control parameters

Configuring translator inversion

Configuring translator boost

Configuring the step by step motor’s brake

Configuring event tasks

Reference point configuration

Confirmation of configuration parameters

Page

TLX DS 57 PL7 40E 09.2000

Configuration

Configuring axes control modules

Introduction

Accessing the configuration editor

Before you create an application program, you must define the context of the physical and software operation in which it will be executed: Type of TSX Premium processor, input/output modules used.

In addition, programming axes control modules necessitates definition of the configuration parameters for the axes used. To do that the PL7 software offers the configuration editor that allows you to carry out these operations easily.

The configuration editor also gives access to the axes adjustment parameters and to the debugging functions in connected mode.

The Application Browser allows you to access the configuration editor. To do that:

Step

Action

Open the Station folder (double click on the icon or click on its attachment).

Open the Configuration folder (double click on the icon or click on its attachment),

Double click on the icon Hardware configuration

Application browser

Structure view

STATION

Configuration

Hardware configuration

Software configuration

Program

Mast task

Events

DFB types

Variables

Animation tables

Documentation file

Runtime screens

4 If the Application Browser window is not present on the screen: l pull down the Tools menu and activate the command Application Brows-

er, l in the toolbar, click on the Application Browser icon:

TLX DS 57 PL7 40E 09.2000

Configuration

Declaring axes control modules

Introduction This operation consists in declaring the axes control modules in the PLC configuration.

TLX DS 57 PL7 40E 09.2000

Configuration

Adding a module To add an axes control module into the PLC configuration, proceed in the following way:

Step

Action

Select the rack in which you want to install the axes control module by clicking on the corresponding rack.

In the rack, select and confirm the position in which you want to install the TSX module by clicking on it twice.

The following dialog box allows you to add the module to the configuration:

Add module

Family:

Analog Module 1.5

Communication1.5

Counting 1.5

Remote BusX 1.0

Movement 1.5

Wheighing

Simulation

Discrete

1.5

1.0

1.5

Module:

TSX CAY 21

CAY 33

TSX CAY 41

TSX CAY 42

TSX CFY 11

TSX CFY 21

2 CHAN. AXIS CONT. MOD

MOD.CDE AXE 3

4 CHAN. AXIS CONT. MOD

1 CH STEPPER MOTOR MOD.

2 CH STEPPER MOTOR MOD.

Cancel

Select Movement in the Family field.

Select the reference of the module (TSX CFY) in the Module field.

Confirm with OK.

After confirmation, the module is declared in its position.

Configuration

TSX 57203 XMWI

XTI..

2 3

5 6

1 2 3

4 5 6

TLX DS 57 PL7 40E 09.2000

Configuration

Deleting a module

To delete a module from its postion: l l l click on it to select it, press the Del key, which displays a dialog box,

Confirm the deletion of the module.

Moving a module To move a module from one position to another: l l l l l click on it to select it, activate the command Edit

Fix the destination position.

You can also:

→

Move a module, select the module using the mouse, without releasing the left mouse button, move the module to its destination position (Drag and Drop).

TLX DS 57 PL7 40E 09.2000

Configuration

Accessing the parameters configuration screen

Accessing module parameterization

To access module parameterization, double click on its graphical representation in l l the rack or: select the module (by clicking on it), activate the command Open module from the pull-down menu Services.

Parametering screen

The following screen allows you to parameterize the module:

TSX CFY 21 [RACK1 POSITION 3]

Configuration

Designation: MOD.MOT.PAS A PAS 2 VOIES

Symbol:

Choose Axis: Function:

Channel 0 Positioning

Task:

MAST

This screen is made up of 4 areas for information or the selection of parameters.

Area

Description

This header is a reminder of the catalog reference of the module and its geographical address in the PLC (rack number and position in the rack).

This command field indicates the current mode: Configuration.

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

This channel level field allows you to select the channel to be configured, the associated function: Position and the task in which the default exchange objects are exchanged: MAST or FAST.

TLX DS 57 PL7 40E 09.2000

Configuration

Channel configuration parameters input area

The lower part of the screen gives access to parameter entry.

TSX CFY 21 [RACK1 POSITION 3]

Configuration

Designation: MOD.MOT.PAS A PAS 2 VOIES

Symbol:

Choose Axis: Function:

Channel 0 Positioning

Task:

MAST

Unit

Acceleration ms

Command mode

A = +Pulse/ B = -Pulse

Command parameters

Max. speed

Acc max.

VMax/

18 000

200

Event input

Rising edge

Falling edge

Hertz ms

Drive inversions

Enable output

Input Check

Direction of command

Reference point

Short cam / - Direction

Boost

Automatic control

Inversion

Brake

Automatic control

Inversion

Event

EVT

To display the whole parameter configuration area, activate the commands View

→

Module zone or View

→

Channel field (you can also use these commands to restore these areas).

Note: For each parameter, the limits are displayed in the status bar.

TLX DS 57 PL7 40E 09.2000

Configuration

Configuring user units

Introduction

Units pick list

Movements and positions are always expressed in numbers of pulses or increments. Speeds are always expressed in pulses per second (Hertz).

The units pick list is as follows:

Unit

Acceleration Hertz/s

Hertz/s ms

TLX DS 57 PL7 40E 09.2000

Description

Configuration

Two selections are possible.

Unit

Hertz/s

Meaning

When this selection is enabled, we will speak of the moving part’s gradient of acceleration and deceleration.

Acceleration in Hertz/s: is equal to the speed gradient, dF/dt

F (Hertz)

F ms

SS_FREQ t(s)

0 t

When this selection is enabled, we will speak of the duration of acceleration and deceleration of the moving part in miliseconds.

Acceleration in ms: is equal to the acceleration time for the speed to go from

SS_FREQ to maximum speed

F (Hertz)

Fmax

SS_FREQ

0 t(ms)

T_ACC

TLX DS 57 PL7 40E 09.2000

Configuration

Configuring the translator’s command mode

Introduction The speed setpoint is sent to the translator in order to control the step by step motor.

This menu allows you to determine the manner in which this information is transmitted.

Command mode pick list

The command mode for the translator is as follows:

Command mode

A = +Pulse/ B = -Pulse

A = Pulse / B = Direction

TLX DS 57 PL7 40E 09.2000

Description

Configuration

Two selections are possible.

Selection

A = + Pulse B = -

Pulse

Meaning

A pulse on A is a movement command (a step) in the positive direction along the axis, a pulse on B is a movement command in the negative direction along the axis.

+ pulse, - pulse mode

Speed

Hertz

SS_FREQ

SS_FREQ t

+ Pulse t

Pulse t

A = Pulse B = Direction In this pulse mode, A is a step movement command, the direction of the movement is indicated by B: l l if B is set to 1 the movement is in the positive direction, if B is set to 0 the movement is in the negative direction.

Pulse / direction mode

Speed

Hertz

SS_FREQ

-SS_FREQ t

Pulse

Direction t t

TLX DS 57 PL7 40E 09.2000

Configuration

Configuring control parameters

Introduction The control parameters fields allow you to define the maximum speed and the maximum acceleration of the axes control.

Note: the terms speed and frequency are used interchangeably to characterize the ideas of speed.

Control parameters selection screen

The control parameters selection screen for the translator is as follows:

Command parameters

Max. speed

Acc max. VMax/

Hertz

400 ms

TLX DS 57 PL7 40E 09.2000

Description

Configuration

Two fields are to be completed.

Selection

Max. speed

Max. acc.

Meaning

The maximum speed (frequency) depends on the translator – motor – moving part as a whole.

The pulse generation circuit has a resolution of 1024 pulses on the frequency dynamic (zero frequency included).

The selection of a maximum speed has an influence on the frequency resolution of the channel. The following list gives the frequency resolution (Minimum Frequency) for a given max. frequency interval: l l l l l l l

[1 Hz …936 Hz] mini frequency 0.92 Hz

[937 Hz …1873 Hz] mini frequency 1.83 Hz

[1874 Hz …4682 Hz] mini frequency 4.58 Hz

[4683 Hz …9365 Hz] mini frequency 9.16 Hz

[9366 Hz …46829 Hz] mini frequence 45.78 Hz

[46830 Hz …93658 Hz] mini frequence 91.55 Hz

[93659 Hz … 187316 Hz] mini frequency 183.11 Hz

Example: for a max. frequency of 20 KHz, the resolution (Min. Frequency) is 45.78 Hz.

The effective acceleration of the axis that is defined in adjustment, must always be less than or equal to the maximum acceleration defined in the configuration.

The TSX CFY 11 and 21 modules are capable of modifying the rate of acceleration or deceleration every 5 ms. The dynamic resolution is 63 point, which means that when the selected unit of acceleration is the Hertz/s, in a given interval of maximum speed the acceleration can be between 1 and 63 times the minimum acceleration. The following list gives the authorized minimum accelerations for a given speed interval: l l l l l l l

[1 Hz …936 Hz] minimum acceleration 183 Hz/s

[937 Hz …1873 Hz] minimum acceleration 366 Hz/s

[1874 Hz …4682 Hz] minimum acceleration 916 Hz/s

[4683 Hz,9365 Hz] minimum acceleration 1831 Hz/s

[9366 Hz,46829 Hz] minimum acceleration 9155 Hz/s

[46830 Hz …93658 Hz] minimum acceleration 18311 Hz/s

[93659 Hz …187316 Hz] minimum acceleration 36621 Hz/s

When acceleration is given in ms, the maximum acceleration corresponds to the minimum time taken to reach maximum speed when accelerating from the start stop frequency (SS_FREQ).

TLX DS 57 PL7 40E 09.2000

Configuration

Configuring translator inversion

Introduction

Configuration screen for translator inversions

The translator is controlled by the channel of the TSX CFY 11 or 21 module. It is possible to configure the logic state of the translator enable output and the translator

monitor input as well as the movement direction of the control of the signals A and B.

The configuration screen for translator inversions is as follows:

Drive inversions

Enable output

Input Check

Command direction

Description Three selections are envisaged.

Field

Enable Output

Input Monitoring

Command direction

Meaning

For translators having input validation, when this box is not selected, output validation is set to 1, when the translator is enabled. If not, it is set to 0.

For translators having input disabling, when this box is selected, output validation is set to 0, when the translator is enabled. If not, it is set to 1.

When this box is not selected, when the input monitor is set to 1, the translator is unavailable. If not, it is available (configuration case for Phytron MSD/SD translator)

When this box is selected, when the input monitor is set to 1, the translator is available. If not, it is unavailable.

When this case is not selected, the direction of the signals A and B is that specified in the section Configuring the command mode (See Configuring the trans-

lator’s command mode, p. 60 ).

When this box is selected, the logic of the command is inverted. The selection

A=+ Pulse / B=-Pulse becomes A=-Pulse / B=+ Pulse and the selection

A=Pulse / B=Direction is such that B set to 1 commands a negative direction along the axis and B set to 0 commands a positive direction along the axis.

TLX DS 57 PL7 40E 09.2000

Configuration

Configuring translator boost

Introduction

Boost configuration screen

Description

Some translators have a boost input that can be configured on the TSX CFY 11 and

21s.

The configuration screen for translator boost is as follows:

Boost

Automatic control

Inversion

Two selections are conceivable.

Field

Automatic control

Inversion

Meaning

For translators having a boost input, when this box is not checked, the translator boost is controlled by the object %Qxy.i.14 BOOST (See Application-spe-

cific step by step axes control language objects, p. 173 ). WARNING: the

BOOST command remains active in automatic control mode, if the Automatic control option is checked, it is important to refrain from using this command in order to avoid any conflicts.

For translators having a boost input, when this box is checked, the translator boost is automatically activated in the acceleration or deceleration phase of the moving part.

When this box is not selected, the translator boost is active when the boost output is set to 1.

When this box is selected, the translator boost is active when the boost output is set to 0.

TLX DS 57 PL7 40E 09.2000

Configuration

Configuring the step by step motor’s brake

Introduction

Brake configuration screen

Description

Within the context of load carrying applications, it is possible to use a brake on the step by step motor.

The brake configuration screen is as follows.

Brake

Automatic control

Inversion

Two selections are conceivable.

Field

Automatic control

Inversion

Meaning

When this box is not selected, the brake is controlled by the object %Qxy.i.13

BRAKE (See Application-specific step by step axes control language objects,

p. 173 ). WARNING: the BRAKE command remains active in automatic control

mode, if the Automatic control option is checked, it is important to refrain from using this command in order to avoid any conflicts.

When this box is checked, the control of the step by step motor’s brake is automatically activated when the moving part is stopped and deactivated when it starts.

When this box is not selected, the brake output is set to 0 when the brake command is active, if not it is set to 1 (24V) in order to deactivate the brake.

When this box is selected, the brake output is set to 1 when the brake command is active, if not it is set to 0.

TLX DS 57 PL7 40E 09.2000

Configuration

Configuring event tasks

Introduction

Event configuration screen

Description

When you want to carry out a complementary process that uses the reflex entry, it is necessary to configure an event task associated to the axes control channel.

The configuration screen for the event task is as follows:

Event

EVT

Two fields are to be completed.

Field

Evt

Task number

Meaning

When this box is selected, this signifies that you want to associate an event task to the axes control channel.

This number indicates the number of the event task that will be attached to the axes control channel. This number is from 0 to 31 for the TSX 57-1• and from

0 to 63 for the TSX 57-2••, TSX 57-3•• and TSX 57-4••.

TLX DS 57 PL7 40E 09.2000

Configuration

Reference point configuration

Introduction So that a movement can be turned into a position, it is necessary to assign a known dimension (generally selected as equal to 0) to a particular point on the axis. This operation is called setting the origin or reference point. An axis on which a reference point has been set is known as "referenced".

Illustration of the

Reference point field

The reference point pick list is as follows.

Reference point

Short cam / + Direction

Short cam / - Direction

Short cam / + Direction

Short cam / - Direction

On limit stop / + Direction

Description The Reference point field defines the type and the direction of the reference point.

The types short cam and long cam are linked to the installation of a reference point sensor on the cam reference point input. The types end of run limit assume an installation of end of run detectors.

Possibilities Icon

Short cam, + direction

Approach speed (1)

Reference

Point Speed

F (2)

Short cam, - direction

Long cam, + direction

SS_FREQ (2)

TLX DS 57 PL7 40E 09.2000

Possibilities

Long cam, - direction

End of run limit, + direction

End of run limit, - direction

Approach speed (1)

Configuration

Reference

Point Speed

SS_FREQ

Icon

(2)

F SS_FREQ (2)

(1) F is the speed programmed in the instruction in automatic mode or the speed

FMANU (defined in the adjustment screen) in manual mode. This speed can be modulated by the CMV coefficient.

(2) The icon illustrates the reference point.

Reference point command

The reference point command is carried out: l l in automatic mode, using instruction code 14: set reference point, in manual mode, using the command SET_RP: set manual reference point.

If SS_FREQ is zero, and if the reference point speed is SS_FREQ, then the actual reference point speed is the smallest that the module can generate in the selected range.

Note: SS_FREQ = the start stop frequency.

Forced reference point

There is also a forced reference point mechanism: l l command G62 in Auto mode, command RP_HERE in Manu mode.

This setting of the reference point consists in forcing the position to a specified value. This operation does not entail any movement and therefore does not take account of the type of RP selected.

TLX DS 57 PL7 40E 09.2000

Configuration

Reference point short cam

The following table gives a detailed description of reference points short cam

Type

Direction

Icon

Short cam

+ Direction - Direction

Movement

Cam

Reference point long cam

The following table gives a detailed description of reference points long cam

Type

Direction

Long cam

+ Direction, start away from the cam

- Direction, start away from the cam

Icon

Movement

Cam

TLX DS 57 PL7 40E 09.2000

Type

Direction

Icon

Configuration

Long cam

+ Direction, start towards the cam

- Direction, start towards the cam

Movement

Cam

Reference point end of run limit

The following table gives a detailed description of reference points end of run limit

Type

Direction

End of run limit

+ Direction, start away from the cam

- Direction, start away from the cam

Icon

Movement

Cam

TLX DS 57 PL7 40E 09.2000

Configuration

Type

Direction

Icon

End of run limit

+ Direction, start towards the cam

- Direction, start towards the cam

Movement

Cam

TLX DS 57 PL7 40E 09.2000

Configuration

Confirmation of configuration parameters

Introduction When you have defined all the configuration parameters, you must confirm your configuration using the command Edit

→

Confirm or by activating the associated icon:

Incorrect configuration parameters

If one or several parameter values are not within the authorized limits, an error message is displayed to indicate the faulty parameter.

For example, the value of maximum speed is invalid:

Validate

S T O P

Cannot validate!

Error in adjustment parameters:

Stop and start speed out of range.

You must correct the faulty parameters to make the confirmation of your configuration possible.

Note: In the configuration screens, the faulty parameters appear in red. The grayed out parameters cannot be modified because they are dependent upon the faulty parameters.

TLX DS 57 PL7 40E 09.2000

Configuration

Incorrect adjustment parameters

When you confirm your configuration for the first time, the adjustment parameters are initialized. If, following modifications to the configuration value, the adjustment parameters are no longer correct, an error message is displayed to indicate the offending parameter.

For example, the speeds are outside limits:

Validate

S T O P

Cannot validate!

Error in configuration parameters:

Maximum speed out of range.

Recognition of confirmation

You must access the adjustment screen, correct the faulty parameter then confirm.

l l l

Your configuration is effectively recognized: when all the configuration parameters are correct, when all the adjustment parameters are correct, when you have confirmed at the level of the standard screen of the configuration editor.

TLX DS 57 PL7 40E 09.2000

Programming step by step axes control

Introduction

Subject of this chapter

What’s in this

Chapter?

This chapter describes the programming principles for the different operating modes: it describes the principal instructions and the operating modes.

This Chapter contains the following Maps:

Topic

Principles of programming a step by step axis

Operating modes

Programming the SMOVE function (in automatic mode)

Inputting SMOVE function parameters

Description of the SMOVE function parameters

Instruction codes for the SMOVE function

Description of basic movements with the SMOVE function

Description of SMOVE instruction codes

Example of using an indexed position (repetitive movements)

Movement command sequencing

Deferred PAUSE function

Immediate PAUSE function

Event processing

Managing operating modes

Managing errors

Description of external hardware faults

Description of application errors

Description of the command refused errors

Management of manual mode

Visual movement commands

Page

TLX DS 57 PL7 40E 09.2000

Programming

Topic

Incremental movement commands

Reference point command

Forced reference point command

Management of direct mode (DIRDRIVE)

Management of stop mode (OFF)

Page

TLX DS 57 PL7 40E 09.2000

Programming

Principles of programming a step by step axis

Introduction

Bit objects and words l l

Each channel (axis) of the axes control module is programmed using: the SMOVE function for movements in automatic mode, the bit objects (%I and %Q) and words (%IW, %QW and %MW), (See Applica-

tion-specific step by step axes control language objects, p. 173 associated with

the module to define: l the selection of operating modes, l l the control of movements, except for automatic mode, the monitoring of the operating status of the axis and the module.

The bit objects and words can be retrieved using their address or their symbol. The symbols are defined in the variables editor which offers as a default a symbol name for each of the objects.

TLX DS 57 PL7 40E 09.2000

Programming

Operating modes

Introduction You can use each axes control channel in 4 operating modes:

Operating mode

Automatic (AUTO)

Manual (MANU)

Direct (DIRDRIVE)

Stop (OFF)

Description

This mode supports the execution of movement commands driven by the SMOVE functions.

This mode supports the visual driving of the moving part, from a panel or from an operator dialog desk. The commands are enabled via output bits %Q.

In this mode the output behaves like a digital / frequency convertor. This mode controls the movement according to the movement setpoint indicated in the variable PARAM.

In this mode the channel does not monitor the moving part; it only reports on current position and speed.

This mode is forced at start up, if the axis is configured and error free.

Selecting the mode

The mode selection is carried out by means of the word MODE_SEL (%Qwxy.i.0)

The following table indicates the selected mode, according to the value of the word

%QWxy.i.0:

Value

Selected mode

OFF

DIRDRIVE

MANU

AUTO

Description

Switching to stopped movement

Order to move in direct mode.

Order to move in manual mode.

Order to move in automatic mode.

For any other value of %QWxy.i.0, OFF mode is selected.

Changing mode during a movement

Changing operating mode while a movement is in progress (DONE bit: %Ixy.i.1 set to 1) makes the moving part stop. When the moving part is effectively stopped (NO-

MOTION bit: %Ixy.i.8 set to 1), the new operating mode is then activated.

Note: Only the commands concerning the current mode are examined. The other commands are ignored: for example, the channel being in MANU mode (IN_MANU equals 1), if the DIRDRV command is activated, it is ignored. It is first necessary to switch into DIRDRIVE mode.

TLX DS 57 PL7 40E 09.2000

Programming

Programming the SMOVE function (in automatic mode)

Introduction

Assisted input screen

You can program an SMOVE function in any programming module in ladder language (by means of an operation block), in instruction list language (between square brackets) or in structured text language. In all cases the syntax remains the same.

You can input the SMOVE function directly or via the assisted input screen.: Func-

tion call:

Function call

Function information: Parameters

Family

Character strings

Movement Cmd

Communication

Digital conversions

V.Bib

V.App

1.1

1.0

1.6

1.1

Call format

METHOD parameter:

Name Type Nature

Channel MAIN Channel

NRUN WORD IN

G9_ WORD IN

Name

SMOVE

Comment

Movement number

Comment

Automatic movement command

Entry field

Call display

SMOVE ( )

OK Cancel Detail...

Assisted input In the editor of the selected program, proceed in the following way:

Step

Action

Press keys Shift and F8 at the same time or click on the icon F(…). The window Function call is then displayed.

Select the option Parameters.

Select the family Movement command in the library.

Select the function SMOVE.

Press the Details button and complete the different fields offered (See Input-

ting SMOVE function parameters, p. 80

). You can also enter the function variables directly into the parameter input area.

Confirm using OK or Enter. The function is then displayed.

TLX DS 57 PL7 40E 09.2000

Programming

Inputting SMOVE function parameters

Introduction

Details screen for the SMOVE function

A movement command is programmed via a SMOVE function, with the following syntax:

SMOVE %CHxy.i(N_Run,G9_,G,X,F,M)

The Details screen allows you to enter each of the parameters with help.

The Details screen for the SMOVE function is as follows:

F x

G01

G14

G09

G62

0.0

G11

G07

1 2 3

G10

G05

SMOVE

Channel address

N_Run 1 Cancel

Movement codes

Movement number

G9_ Cancel

X Position increment

F 500 Cancel

Parameters M

Movement speed

Digital auxillary outputs

Evt source Unchanged

Synchronous with mvt

Consecutive with mvt

AUX 0

OK Cancel

The entry fields (parameters for the SMOVE function) are as follows:

Parameter

%CHxy.i

N_Run

G9_

Description

Channel address.

Movement number.

Movement type.

Instruction code.

Coordinate of the position to be reached.

Speed of movement of the moving part.

Event processing, auxiliary discrete outputs associated with the channel.

TLX DS 57 PL7 40E 09.2000

Programming

Description of the SMOVE function parameters

Introduction You must enter the following parameters in order to program a movement function:

SMOVE %CHxy.i(N_Run,G9_,G,X,F,M)

Channel address %CHxy.i defines the channel address of the axes control module in the PLC configuration: i y

Parameter x

Meaning

Rack number.

Position of the module in the rack.

Channel number.

l l

0 for a TSX CFY 11 module,

0 and 1 for a TSX CFY 21 module,

Movement number

Movement type

N_Run defines the movement number (between 0 and 32767). This number identifies the movement carried out by the SMOVE function.

In debugging mode, this number tells you which movement is in progress.

G9_ defines the movement type:

Code

Movement type.

Absolute movement.

Movement relative to the current position.

Movement relative to the stored PREF1 position. The storing of the

PREF1 position is achieved using the instruction code G07.

To select the movement type use the browse button situated to the right of the G9_ field or enter the code directly when inputting directly (without going to the Details screen).

Instruction code G defines the instruction code (See

Instruction codes for the SMOVE function, p. 83)

for the SMOVE function

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Programming

Coordinate of the position to be reached

X defines the coordinate of the position to be reached or towards which the moving l l part must move (in the case of a continuous movement).This position can be: immediate, coded in a double internal word %MDi or internal constant %KDi (this word can be indexed).

This value is expressed in the unit defined by the configuration parameter Length

Units (e.g. micron).

Note: In the case of instruction G14, G21 and G62 this parameter represents the value of the reference point.

Speed of movement of the moving part

F defines the speed of movement of the moving part. This speed can be: l l immediate, coded in a double internal word %MDi or internal constant %KDi (this word can be indexed).

The unit of speed is Hertz.

Note: The speed can be modulated in the course of the movement by means of the CMV (coefficient of speed modulation). Actual F = programmed F x CMV/

1000. This parameter initialized by default at 1000 can be inbetween [0…2000], the resulting speed must always be more than SS_FREQ. The value 0 signifies the moving part has been stopped.

Parameter M M defines a word which is coded in 4-bit bytes (in hexadecimal): l the activation or non activation of the trigger for application event processing, for instructions G10, G11, G05 and G07: l M = 16#1000: activation of the associated event task, l M = 16#0000: non activation of the event task when the SMOVE command is executed.

For example:

Byte 3 2 1 0

16#

Note: Coding is automatically realized in the M field in the Details screen, when you make selections using the check boxes and buttons offered by this screen.

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Programming

Instruction codes for the SMOVE function

Introduction

List of instruction codes

The G defines the instruction code.

To select the instruction code you can use the browse button situated to the right of the G field, click on the icon corresponding to the movement or enter the code directly when inputting directly (without going to the Details screen ).

The instruction codes that you can select in the Details screen are as follows:

Instruction code

Meaning

Movement to position with stop.

Icon

01 Continuous movement to position.

Movement to event with stop.

Continuous movement to event.

Reference point.

Forced reference point.

Await event.

Storage of position on event.

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Programming

Details screen gaphics

The Details screen also display a graphic which represents the selected movement.

For example, code G09:

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Programming

Description of basic movements with the SMOVE function

Introduction

Absolute movement in relation to the machine origin

Some instructions of the SMOVE function allow you to carry out basic movements.

When programming these movements, the user defines the position to be reached and the speed. The acceleration parameter (constant, trapezoidal law of speed) is l l l defined by this adjustable parameter.

The movements can be: absolute in relation to the machine origin 90 relative in relation to the current position 91 relative in relation to the stored position PREF 98

Example of an absolute movement in relation to the machine origin 90.

Example: SMOVE %CH102.0 (1,90,01,50000,1000,0)

Speed

(Hertz)

1000

SS_FREQ

50000 position

(pulses)

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Programming

Relative movement in relation to the current position

Example of a relative movement in relation to the current position 91.

Example: SMOVE %CH102.0 (1,91,01,40000,1000,0)

Speed

(Hertz)

1000

SS_FREQ

X X+40000 position

(pulses)

Relative movement in relation to the stored position

Example of a relative movement in relation to the stored position PREF 98.

Example: SMOVE %CH102.0 (1,98,01,30000,1000,0)

Speed

(Hertz)

1000

SS_FREQ

PREF PREF+30000 position

(pulses)

TLX DS 57 PL7 40E 09.2000

Programming

Description of SMOVE instruction codes

Introduction Three classes of movement can be programmed: l l l movements to a position (instruction codes 01 and 09) movements until the detection of an event (instruction codes 11 and 10) taking of reference point (instruction 14)

To find out about the execution conditions for instructions, see Diagnostics and

maintenance, p. 159.

Continuous movements to a position

Example of a continuous movement to a position: instruction code 01.

Example: SMOVE %CH102.0 (1,90,01,50000,1000,0)

Speed

(Hertz)

1000

SS_FREQ

50000 position

(pulses)

Note: If the instruction 01 is not followed by any movement instruction, the moving part continues the movement until it reaches the soft stops (after passing the position to be reached, the coefficient of speed modulation CMV is no longer interpreted).

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Programming

Movements to a position with stop

Example of a movement to a position with stop: instruction code 09.

Example: SMOVE %CH102.0 (1,90,09,50000,1000,0)

Speed

(Hertz)

1000

SS_FREQ

0 50000 position

(pulses)

Continuous movement until an event

Example of a continuous movement until an event: instruction code 11.

Example: SMOVE %CH102.0 (1,90,11,500000,3000,0)

Speed

(Hertz)

3000 event

SS_FREQ

50000 position

(pulses)

Note: The event can be a rising or falling edge on the dedicated cam event input or rising edge on the EXT_EVT bit (%Qxy.I.11) by program.

The position parameter must obligatorily be defined. If the event is not detected, the instruction is terminated when the requested target position is reached.

These instructions 11 and 12 can activate the event task when the event is detected if M is equal to 16#1000.

TLX DS 57 PL7 40E 09.2000

Movement until an event with stop

Example of a movement until an event with stop: instruction code 10.

Example: SMOVE %CH102.0 (1,90,10,500000,2000,0)

Speed

(Hertz)

2000 event

Programming

Set reference point

SS_FREQ

50000 position

(pulses)

Example of setting reference point: instruction code 14. Reference point configured towards short cam in the + direction. At the start, the moving part is outside the cam.

Example: SMOVE %CH102.0 (1,90,10,500000,2000,0)

Speed

(Hertz)

2000

Reference point

SS_FREQ

0 position

(pulses)

50000

Note: This instruction triggers a reference point sequence according to the selection made in configuration. The value provided in the X parameter corresponds to the coordinate to be loaded with the current value when the point is detected.

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Programming

Example of setting reference point: instruction code 14. Reference point configured towards long cam in the + direction. At the start, the moving part is on the cam.

Example: SMOVE %CH102.0 (1,90,14,500000,2000,0)

Reference point Speed (Hertz)

SS_FREQ 5000000

Position (pulses)

SS_FREQ

2000

Note: this command is only accepted if the moving part is at rest: NOMOTION bit

= 1 (%Ixy.i.7 = 1).

Forced reference point

This command carries out the taking of a forced reference point (without moving the moving part). The instruction code is 62. The current position value is forced to the value entered in the parameter position X.

Example: SMOVE %CH102.0 (1, 90, 62, 100000, 100, 0) .

When this instruction is executed, the position of the moving part is forced to

100000.

Note: regardless of the status of the axis, referenced or not, this command is accepted and it has the action of referencing the axis when the execution is completed. This command is only accepted if the moving part is at rest, NOMOTION bit =

1 (%Ixy.i.7=1).

TLX DS 57 PL7 40E 09.2000

Await event

Programming

This command, instruction code 05, makes the channel wait for an event which can be: l a change of state of the trigger input (rising or falling edge according to the selection made at configuration), l a rising edge for the EVT_EXT bit (%Qxy.11)

In the context of this instruction, the F parameter specifies the time envelope with a resolution of 10 ms. If the event is not triggered at the end of the time envelope, the command is deactivated. If F = 0, the wait carries on indefinitely.

Example: SMOVE %CH102.0 (1, 90, 05, 500, 100, 0) .

It is possible to associate event processing (See

Event processing, p. 101), to do

that you must program M to 16#1000.

Note: when executing this instruction, the object %MDxy.i.10 (T_SPEED speed to be reached) does not contain the parameter F for the wait time. On the other hand it is advised to systematically associate an event process to this command as the bit TO_G05 (%Ixy.i.39), which allows the application to distinguish whether the command is terminated by detecting an event or by the passing of the time envelope, is only refreshed if this process is activated.

Storage of the current position on event.

After the execution of this instruction, code 07, when the trigger input is entered the event defined in configuration is produced and the current position is stored in the

PREF register.

Note: the parameter of position X must be equal to 1.

Example: SMOVE %CH102.0 (1, 90, 07, 1, 0, 0) .

TLX DS 57 PL7 40E 09.2000

Programming

Descriptive table for storing the current position on event.

Type of event on event input

Timing diagram

Rising edge

Falling edge

Position

Behavior

PREF

Configuration selection t

Note: this instruction is not blocking, the program carries on straightaway to the next instruction. The stored value of the current position can be accessed in the register PREF (%IDxy.i.7) only if activation of event processing is requested

(M=16#10000).

Note: when executing this instruction, the object %MDxy.i.8 (T_XPOS, target position to be reached) does not contain the parameter X=1.

TLX DS 57 PL7 40E 09.2000

Programming

Example of using an indexed position (repetitive movements)

Introduction

Illustration

We want to carry out the sequence of the following basic movements 9 times: l l l l movement A until the detection of the edge of part 1, movement B as far as position 2 = +20000 in relation to the edge of part 1, movement C as far as position 3 = +10000 in relation to the edge of part 1, movement D as far as the edge of part 1.

In this example, the reference point is assumed taken and the moving part is at the reference point.

Position diagram.

Speed

(Hertz)

500 event

SS_FREQ

DSS_FREQ

2 event event

8000000

REFP REFP REFP

Note: the sequence of basic movements is represented in bold on the curve. The numbers given correspond to the program step numbers included in the SMOVE function.

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Programming

Description of the program

Grafcet for the operation of repetitive movements.

!%MW0:=0;%QW2.0:=3 (*%QW2.0:MOD_SEL:=AUTO*)

!RE %I1.0 AND %I2.0.3 AND %I2.0.19 (*I2.0.3:AX_OK

%I2.0.19:IN_AUTO*)

!SMOVE %CH2.0(1,90,7,1,0,0);INC %MW0;

!%I2.0 (*I2.0.0:NEXT*)

!SMOVE %CH2.0(2,90,11,800000,500,0)

!%I2.0

!SMOVE %CH2.0(2,98,09,20000,500,0)

!%I2.0

!SMOVE %CH2.0(4,98,09,10000,100,0)

!%I2.0

!SMOVE %CH2.0(5,98,09,0,100,0)

!%I2.0 AND (%MW0<=10)

Note: all the actions must be programmed on activation.

TLX DS 57 PL7 40E 09.2000

Programming

Movement command sequencing

Creating a trajectory

Memory buffer

The creation of a trajectory is carried out by programming a series of basic movement instructions (SMOVE function).

Each basic command to execute an SMOVE function must only be done once. You must program the execution either: l in Grafcet: in a step programmed for activation or deactivation, l in structured text or Ladder language, in one bit rising edge.

The report on the execution of the function is supplied by the module, via the bits

NEXT and DONE.

The TSX CFY module has a mechanism that supports the sequencing of movement commands.

Each axis of the TSX CFY module includes a memory buffer that allows it to receive

2 movement commands, in addition to that, which it is executing. Thus, after finishing executing the current command, it carries on immediately to the first command present in the buffer memory.

Command sequencing:

SMOVE

SMOVE %CH102.0 (01,90,01,...)

SMOVE %CH102.0 (02,90,09,...)

SMOVE %CH102.0 (03,90,09,...)

Sequencing between 2 commands

The sequencing between 2 movement commands is carried out in the following way: l l instantaneously if the first movement is continuous, as soon as the moving part has stopped, if the first movement is with stop.

For sequencing to be instantaneous, the execution time of the instruction in progress must be greater than the period of the master task.

Note: A new command must only be transmitted to the module if the memory buffer associated with the axis to be controlled is not full.

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Programming

Bits associated with the sequencing mechanism

The bits associated with the sequencing mechanism are as follows:

Addressing

NEXT (%Ixy.i.0)

DONE (%Ixy.i.1)

AT_PNT (%Ixy.i.8)

Description

Indicates to the program user that the module is ready to receive the next movement command.

Indicates the end of the execution of the current command and the absence of a new command in the memory buffer.

Signals that the moving part has reached the point aimed for: l l for a continuous movement, remains at 0, for a movement with stop, is equivalent to NOMOTION.

Example

Note: The program must always test either the NEXT bit or the DONE bit before executing an SMOVE command.

The following diagram represents the timing diagram of a sequence:

SS FREQ

SMOVE%CH2(1,90,01 L

SMOVE%CH2(2,90,09,..; L

SMOVE%CH2(3,90,09,..;

WAIT

SMOVE%CH2(4,90,09,..;

SMOVE%CH2(5,90,11,..;

WAIT

WAIT WAIT t (s)

DONE

AT PNT

S = Start

For a movement with stop: DONE switches to 1 when NOMOTION switches to 1 and when the memory buffer is available.

For a continuous movement: DONE switches to 1 when the target position is overshot and when the buffer memory is empty.

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Programming

Deferred PAUSE function

Introduction The command PAUSE (%Qxy.i.16) allows you to suspend the sequence of movements. It only becomes active when the moving part is stopped, that is, at the end of a G09 or G10 instruction.

The next movement starts as soon as the PAUSE command is reset to 0.

The bit ON_PAUSE (%Ixy.i.26) signals when it is set to 1 that the axis is in a PAUSE l l state.

This function has 2 possible uses: the block by block execution of the movement program, synchronization of the axes by the same step by step axes control module.

Block by block execution of the movement program

If the current instruction is an instruction with stop, the activation of the command

PAUSE in the debugging screen in automatic mode or setting the PAUSE bit

(%Qxy.i.16) to 1 causes, after the end of the execution of the current instruction, the switch to wait mode: the stopping of the movement sequencing.

It is thus possible by successively activating and deactivating the PAUSE command to execute the movements block by block with the aim of facilitating the debugging.

Synchronization of several axes

For each axis, the setting of the PAUSE bit (%Qxy.i.12) to 1 by the program causes, after the end of the execution of the current instruction, the switch to wait mode.

When the PAUSE bit is reset to 0, the module continues the execution of the instructions.

TLX DS 57 PL7 40E 09.2000

Programming

Example The execution of the movement of the moving part 1 is stopped when moving part 0 reaches position 100000. The movement is activated again when the moving part 0 reaches dimension 500000.

IF (%ID2.1 >= 100000) THEN SET %Q2.1.12;

...............................

IF (%ID2.1 >= 500000) THEN RESET %Q2.1.12;

Speed (Hertz)

100000 500000

SS_FREQ

Moving part 0

PAUSE bit

Position

(pulses)

Time

SS_FREQ

Moving part 1

Time

Note: The PAUSE command is only processed when AUTO mode is active.

TLX DS 57 PL7 40E 09.2000

Programming

Immediate PAUSE function

Introduction

Activating the function

This function allows you, in automatic mode, to cause the moving part to stop, while assuring, at the time of the command to restart the movement, the continuation of the programmed trajectory (with no risk of commands being refused).

The immediate PAUSE function is activated by assigning the value 0 to the word

CMV (%QWxy.i.1), the coefficient of speed modulation.

It makes the moving part stop in accordance with the programmed deceleration.

The status report on the pause is signaled by the bit IM_PAUSE (%Ixy.i.34).

Deactivating the function

The immediate PAUSE function is deactivated by reassigning the initial value (> 0) to the word CMV, the coefficient of speed modulation.

It causes the interrupted movement to restart at the speed corresponding to:

F x CMV / 1000.

Example Activation / deactivation of the immediate PAUSE function:

SMOVE %CH2.0 (1,90,10,5000000,1000,0);

SMOVE %CH2.0 (2,90,09,7500000,500,0);

...............................

IF RE %M10 THEN %MW100:= %QWxy.i.1; %QWxy.i.1:= 0;

IF RE %M10 THEN %QWxy.i.1:= %MW100;

Speed (mm / min)

1000

500

SS_FREQ

SMC

1000

5000000 7500000 Position

Position

Note: Upon a STOP order or a blocking error, this command is deactivated.

TLX DS 57 PL7 40E 09.2000

Programming

Note: when the aimed for position is overstepped when there is a stop following an immediate pause command, the current movement is considered terminated. In this case the trajectory restarts with the movement which was waiting in the memory buffer.

100

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Programming

Event processing

Introduction

Activating an event task

The channels of the TSX CFY modules can activate an event task. To do that you must have enabled the functionality in the configuration screen, by associating a event processing number to the channel (See

Configuring event tasks, p. 67).

The following instructions set off the sending of an event that activates the event task: l Movement until an event, codes 10 and 11: the event processing application is activated, when the event is detected.

l Await event, code 05: the event processing application is activated, at the end of l the instruction.

Storing the current position when the event appears, code 07: the event processing application is activated at the end of storing the position PREF.

The event processing application is activated, if bit 12 in the M parameter of the

SMOVE function associated to the instruction is set to 1 (M equals 16#1000).

Variables which can be used by the event task l l l

If several event sources are selected, the following bits allow you to determine the source of the trigger of the event processing application: l l

EVT_G1X (%Ixy.i.40): end of G10 or G11 on event,

EVT_G05 (%Ixy.i.38): end of G05 on event, l l

TO_G05 (%Ixy.i.39): G05 timing elapsed,

EVT_G07 (%Ixy.i.37): storage of position,

The OVR_EVT bit (%Ixy.i.36) allows you to detect a delay in the sending of the event or a loss of event.

Value of the stored position PREF (%IDxy.i.7).

Note: The bits and the words described above are the only values refreshed in the event task and they are only updated into the PLC when the task is activated.

Masking events PL7 language offers 2 methods of masking events: l Instruction for the global masking of events: MASKEVT() (the instruction UN-

MASKEVT() allows unmasking). l Bit %S38 = 0 (global disabling of events). The %S38 bit is normally set to 1.

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101

Programming

Summary diagram:

TSX CFY

G05

Event task

EVTi

G07

G10/G11

UNMASKEVT

MASKEVT

Processor

%S38

EVTi event task

102

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Programming

Managing operating modes

Powering up the module

When powering up the module or when plugging it in, the TSX CFY module carries out auto-tests with the outputs in safety position (outputs at 0).

At the end of the auto-tests:

If the auto-tests … have not detected any errors.

have detected an error or the configuration is incorrect.

Then the module … tests the configuration with the outputs in safety position.

If the configuration is correct, the module switches to disabled mode (OFF).

signals an error and retains the outputs in safety position.

PLC in RUN mode

All the operating modes of the configured channels are usable.

Switching the

PLC from RUN to

STOP mode

When switching the PLC from RUN mode to STOP mode or when there is a loss of communication between the processor and the module, the moving part decelerates and stops and the module switches to STOP mode (OFF).

Note: The bit %S13 allows you to detect the PLC switching to STOP mode. It is set to 1 during the first cycle after the PLC switches to RUN mode.

Changing configuration

(reconfiguration) l l l l l

The moving part decelerates and stops.

The channel becomes unconfigured.

The channel tests the new configuration with the outputs in safety position.

If the new configuration is correct, the channel switches to STOP mode (OFF).

If the configuration is incorrect, the module signals an error and retains the outputs in safety position.

Power outage and return

When there is a power outage, the moving part stops.

At the time of a cold start or a warm restart, the configuration of the channels is automatically transmitted by the processor to the module The latter switches into

STOP mode (OFF).

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Programming

Managing errors

Introduction

Error types

The monitoring of errors is essential in the area of position control because of the inherent risks with moving parts.

The checks are carried out internally and automatically by the module.

The module detects 4 types of errors: l Module errors. These are the hardware faults internal to the module, all the axes driven by the module are thus affected by the appearance of this type of error.

They can be detected in the course of the auto-tests (when reinitializing the module) or in the course of normal operation (I/O error).

l Hardware channel faults external to the module (for example, brake output short-circuit). l Application channel errors linked to the axes (for example, crossing outside soft stop).

The monitoring of errors at axis level is permanently active when the axis is configured.

l Commands refused channel errors. These are the errors which can appear when executing a movement, configuration transfer, adjustment parameters transfer or change of operating modes command.

Note: The monitoring of some errors at the axis level can be enabled or disabled by the axes control parameters. These control parameters can be adjusted in the adjustment screen.

In STOP mode (OFF), the monitoring of application errors is disabled

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Programming

Levels of gravity The errors are classed into 2 levels of gravity: l Critical or blocking errors which cause the moving part in the case of an axis error or the moving parts managed by the module in the case of a module error l l to stop. They cause the following processes: l signaling of the error, deceleration of the moving part until it stops, disabling of the translator, activation of the brake, l clearing of all the stored commands, l the wait for an acknowledgement.

The error must have gone and been acknowledged for you to be able to restart the application.

l Non critical errors which cause a signaling of the error without stopping the moving part. You must program in PL7 the action to be taken with this type of error.

The error message disappears when the error has gone and has been acknowledged (the acknowledgement is not stored and is only effective if the error has gone).

Note: in the case of opening emergency stop input, or of the disabling of the translator (%Qxy.i.10=0), the deceleration phase is not carried out, the stop is immediate. On the other hand, the appearance of loss of step information is not considered to be a blocking error, it is simply signaled to the application.

Programming errors

Errors can be displayed, fixed and acknowledged from the debugging screen, but it can be useful in operation to be able to drive the moving part and fix errors from a console. For this end, the application has all the necessary information and commands.

Signaling errors The module offers a lot of information in the form of status bits and words, which can be accessed via the PL7 program. These bits allow the errors to be handled hierarl l chically: to act on the principle program, to simply signal the error.

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Programming

Levels of signaling

2 levels of signaling are provided:

First level: general information

Bit

%Ixy.i.ERR

AX_OK (%Ixy.i.3)

AX_FLT (%Ixy.i.2)

HD_ERR (%Ixy.i.4)

AX_ERR (%Ixy.i.5)

CMD_NOK (%Ixy.i.6)

Error

Channel fault

No blocking error (with stop of moving part) is detected

Error (groups all the errors together)

External hardware fault

Application error

Command refused

Second level: detailed information

Module and axis error status words (%MWxy.i.2 and %MWxy.i.3), these words are obtained via explicit exchange requests described in language objects (See Appli-

cation-specific step by step axes control language objects, p. 173).

Note: On encountering a blocking error, we advise you to stop the development of the sequential processing to which the axis is associated and to fix the error by driving the moving part in manual mode. The correction of the error must be followed by an acknowledgement of the error.

Fault acknowledgment

When an error appears: l The error bits AX_FLT, HD_ERR, AX_ERR and the extract bits of the status words concerned by the error are set to 1.

l If the error is blocking the AX_OK bit is set to 0.

When the error disappears, all the error bits remain in their state. The error is stored until the acknowledgement obtained by resetting the bit ACK_DEF %Qxy.i.9 to 1 (or reinitialization of the module). The acknowledgement must be carried out after the error has gone (except for soft stop errors)

If several errors are detected, the acknowledgement order only works on the errors that have effectively disappeared. The errors still present must be acknowledged again after they have disappeared.

Note: The acknowledgement of an error can also be carried out at initialization of the PLC or when a correct new command is accepted in the case of a command refused error.

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Programming

Summary table for the different types of errors

The following table summarizes the difference types of error and the associated bits:

Channel fault

(Bit %Ixy.i.ERR) l l l l

Internal

Communication

Configuration

Configuration or adjustment

Process errors (Bit AX_FLT: %Ixy.i.2)

AX_OK: %Ixy.i.3 (No blocking error detected)

External hardware (Bit

HD_ERR: %Ixy.i.4)

Application (Bit

AX_ERR: %Ixy.i.5) l l l l

Emergency stop

Translator

24 Volt supply

Brake output short circuit l Soft stops

Command refused (Bit

CMD_NOK:

%Ixy.i.6)

Coding of the error in the word

CMD_FLT:

%MWxy.i.7

(*) These errors are non blocking errors and have no influence on the bit AX_OK.

Description of the channel errors l l l

The bit %Ixy.i.ERR groups all the errors at channel level:

Internal error (%MWxy.i.2:X4): module absent, out of service or in auto-test.

Communication error (%MWxy.i.2:X6): communication error with the processor.

Configuration error (%MWxy.i.2:X5): difference between the declaration of the position of the module in the configuration and its actual position.

Note: The words %MW require a READ_STS command in order to be updated.

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Programming

Description of external hardware faults

Introduction These errors are signaled by the bit HD_ERR (%Ixy.i.4). These errors are blocking errors and cannot be deactivated.

Emergency stop The following table shows the cause, the signal and the remedy to be applied in the case of a Emergency stop error:

Cause

Parameter

Consequence

Signal

Remedy

Circuit open between the 24V and the Emergency stop input in the module panel

None

The moving part is forced to stop

Bit EMG_STOP (%Ixy.i.29) and EMG_STP (%MWxy.i.3:X5)

Re-establish the connection between the input and the 24V then acknowledge the error.

24V supply

Brake output short circuit

The following table shows the cause, the signal and the remedy to be applied in the case of a 24V supply error:

Cause

Parameter

Consequence

Signal

Remedy

24V supply fault

None

The axis is not referenced, the moving part is forced to stop

Bit AUX_SUP (%MWxy.i.3:X6)

Re-establish the connection then acknowledge the error

The following table shows the cause, signal and the remedy to be applied in the case of a Brake output short circuit:

Cause

Parameter

Consequence

Signal

Remedy

Short circuit detected on the module’s brake output

None

The axis is not referenced, the moving part is forced to stop

Bit BRAKE_FLT (%MWxy.i.3:X1)

Remove the short circuit then acknowledge the error

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Translator

Programming

The following table shows the cause, the signal and the remedy to be applied in the case of a Translator error:

Cause

Parameter

Consequence

Signal

Remedy

The translator check input does not receive the level translator OK defined in the channel configuration

None

The axis is not referenced, the moving part is forced to stop

Bit DRIVE_FLT (%MWxy.i.3:X2)

Remove the translator fault then acknowledge the error

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Programming

Description of application errors

Introduction

Soft stops

These bits are signaled by the bit AX_ERR (%Ixy.i.5). The parameters can be accessed via the Configuration editor adjustment screen.

The following table shows the cause, the signal and the remedy to be applied in the case of a Soft stop error: This error is blocking and cannot be deactivated.

Cause

Parameter

Consequence

Signal

Remedy

The moving part is no longer situated between the 2 thresholds: software Lo limit and software Hi Limit (this monitoring is activated as soon as the axis is referenced)

Software Hi Limit: SL_MAX (%MDxy.i.14)

Software Lo Limit: SL_MIN (%MDxy.i.16)

The moving part is forced to stop

Bit %MWxy.i.3:X3: Software Hi Limit passed

Bit %MWxy.i.3:X4: Software Lo Limit passed

Acknowledge the error and in manual mode remove the moving part from outside the soft stops into the zone of valid measurements. To do that, you must check: l l l l l that no movement is in progress, that manual mode is selected, that the STOP command is set to 0, that the axis on which the command is carried out is referenced, that there is no other error with stop on the axis.

The moving part can either be brought back manually or by means of the commands JOG+ and JOG-.

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Programming

Description of the command refused errors

Introduction

Command refused

A command refused error is generated each time that a command cannot be executed. This command is not compatible with the status of the axis or the current mode or at least one of the parameters is not valid.

These errors are signaled by the indicator Command Refused in the debugging screens. The DIAG key at the channel level tells you the source of the command refused. This information can also be accessed via the program via the bit

CMD_NOK (%Ixy.i.6) and the word CMD_FLT (%MWxy.i.7) (See List of error codes

CMD_FLT, p. 190).

The following table shows the cause, the signal and the remedy to be applied in the case of a Command refused error.

Cause

Parameter

Consequence

Signal

Remedy

Unauthorized movement command

Transfer of incorrect configuration or parameters

None

Immediate stop of the movement in progress

Reset to 0 of the memory buffer receiving the movement commands in automatic mode

Bit CMD_NOK (%Ixy.i.6): movement command refused

Word CMD_FLT (%MWxy.i.7): type of error detected l l

Least significant byte: executable commands,

Most significant byte: adjustment configuration and parameters.

Acknowledgement is implicit upon receipt of a new accepted command

Acknowledgement is equally possible via the command ACK_DEF

(%Qxy.i.9)

Note: In the case of movement sequencing in automatic mode, we advise you to condition the execution of each movement with the end of the execution of the preceding movement and with the bit AX_FLT (%Ixy.i.2). This means that the following command is not sequenced, when the current command has experienced a command refusal.

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Programming

Management of manual mode

At a Glance You can select and control the manual mode from the debugging screen, but also via an application program, from a panel or an operator or supervisor dialog desk.

In this case, the dialog is programmed in ladder, instruction list or structured text language, using basic commands (movements, reference points, etc.)

Selecting manual mode

This is done by assigning value 2 to the word MOD_SEL (%QWxy.i.0).

The switch from the mode in use to manual mode forces the moving part to stop if a movement is in progress. Manual mode is effective as soon as the moving part has stopped.

When the command to switch into manual mode has been recognized, the bit

IN_MANU (%Ixy.i.22) bit is set to 1.

Executing manual commands

The basic commands associated with manual mode and accessible via command bits %Qxy.i.j are as follows: l l l l l l

Visual movement in the + direction JOG_P (%Qxy.i.1).

Visual movement in the - direction JOG_M (%Qxy.i.2).

Incremental movement in the + direction INC_P (%Qxy.i.3).

Incremental movement in – direction INC_M (%Qxy.i.4).

Manual reference point SET_RP (%Qxy.i.5).

Forced reference point RP_HERE (%Qxy.i.6).

These commands are equivalent to those accessible from the debugging screen of the TSX CFY module.

Manual commands:

Commands

- JOG + JOG

- INC + INC

Manual reference point

Forced reference point

Brake

Boost

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General conditions for executing commands in manual mode

Programming

The following conditions must be fulfilled in order to execute commands in manual l l l l mode:

Target position within in the software limits.

Axis free of blocking error (AX_OK bit: %Ixy.i.3 = 1).

No command being executed (DONE bit: %Ixy.i.1 = 1).

STOP command (%Qxy.i.8) inactive and confirmation bit of the translator relay

ENABLE (%Qxy.i.10) set to 1

Note: Except, in the case of a software limit error, for commands JOG_P and

JOG_M and after error acknowledgement.

Stopping a movement l l l l

A movement may be stopped by: l The appearance of the STOP command (%Qxy.i.8) or the setting to 0 of the EN-

ABLE bit (%Qxy.i.10) or the STOP input.

The appearance of a blocking error.

Changing the operating mode.

Receiving a configuration.

The switch to the end of run plus limit (or minus) during a movement in the plus

(or minus) direction.

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Programming

Visual movement commands

At a Glance To carry out a visual movement, you must use the manual commands JOG_P and

JOG_M.

The bits JOG_P (%Qxy.i.1) and JOG_M (%Qxy.i.2) control the movement of the moving part in the positive or negative direction. The operator must visually follow the position of the moving part. The movement continues for as long as the command is present and it is not disabled by a STOP command or an error.

The commands JOG_P and JOG_M are taken into account on edge and are kept active on state, whether the axis is referenced or not.

Movement speed The movement occurs at the manual mode speed MAN_SPD, defined in the adjustment screen (or in the double word %MDxy.i.20).

The speed can be modulated during movement by means of the CMV coefficient

(%QWxy.i.1).

Any movement speed higher than FMAX (maximum speed of the axis defined at configuration) is limited to the FMAX value.

Movement speed of the moving part:

Speed

MAN-SPD

JOG_P

Time SS_FREQ

DSS_FREQ

JOG_P

JOG_M

Time

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Notes on the

JOG_P and

JOG_M commands

Programming l l

The commands JOG_P and JOG_M are used to release the moving part when a software limit error is detected. This is done after first acknowledging the error.

If the JOG_P or JOG_M bit is set to 1 when switching to manual mode, this command is not recognized. It will only be recognized when the bit has been cleared and then reset to 1(detection of rising edge).

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Programming

Incremental movement commands

At a Glance To carry out an incremental movement, you must use the manual commands INC_P and INC_M.

The bits INC_P (%Qxy.i.3) and INC_M (%Qxy.i.4) control the movement to increment the position of the moving part in the positive or negative direction.

The value of the position increment PARAM is entered in the double word

%QDxy.i.2 or in the debugging screen of the TSX CFY module.

Further to the general conditions of execution in manual mode, the commands l l

INC_P and INC_M are active on rising edge when:

The axis is referenced.

The target position is between the software limits.

Movement speed The movement is carried out at the manual mode speed MAN_SPD, defined in the adjustment screen (or in the double word %MDxy.i.20).

The speed can be modulated during movement by means of the CMV coefficient

(%QWxy.i.1).

Any movement speed higher than FMAX (maximum speed of the axis defined at configuration) is limited to the FMAX value.

Movement speed of the moving part:

Speed

MAN-SPD

SS_FREQ

DSS_FREQ

INC_P

INC_M

INC_P

PARAM -PARAM

INC_M

Time

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Programming

Reference point command

At a Glance You can take a reference point by using the command SET_RP.

The bit SET_RP (%Qxy.i.5) takes a manual reference point with movement.

The type and the direction of the reference point are defined at configuration in the

Reference point (See

Reference point configuration, p. 68) parameter. The value of

the source is defined in the adjustment screen by the parameter RP Value (or the double word RP_POS: %MDxy.i.22).

Approach speed The approach speed is the manual speed MAN_SPD defined in the adjustment screen (or in the double word %MDxy.i.20) multiplied by the CMV speed modulation coefficient. The reference point speed varies according to the type of reference point selected.

Any movement speed higher than FMAX (maximum speed of the axis defined at configuration) is limited to the FMAX value.

Example: short cam only and + direction

Speed

(Hertz)

SET_RP

Cam

SS_FREQ

SET_RP

SET_OK

RP_POS

Position

(pulses)

Time

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Programming

Forced reference point command

At a Glance You can take a forced reference point by using the command RP_HERE.

The bit RP_HERE (%Qxy.i.6) takes a forced reference point without moving, at the value defined in the PARAM parameter. This value is entered in the double word

%QDxy.i.2 or in the debugging screen of the TSX CFY 11/21 module.

The forced reference point command is used to reference the axis without carrying out a movement.

Note: The command RP_HERE does not modify the value of the RP_POS parameter.

The value of the PARAM parameter must be between the software limits.

No blocking fault is tolerated during execution of this command.

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Programming

Management of direct mode (DIRDRIVE)

At a Glance DIRDRIVE mode is used to simulate the axes control without operating the functional part; all the returned information is calculated.

The behavior of the axis can therefore be analyzed independently from the functional part.

Selecting direct mode

Direct mode is selected by assigning value 1 to the word MOD_SEL %QWxy.i.0.

On a request to change mode, the moving part is stopped, then the mode is changed. When the command for switching into direct mode has been recognized, the bit IN_DIRDR %Ixy.i.17 is set to 1.

Execution of commands in direct mode

Speed law

Direct mode includes the movement command DIRDRV %Qxy.i.0.

The speed setpoint is transmitted periodically by the variable PARAM %QDxy.i.2.

The sign of this variable gives the movement direction.

The speed of the translator is controlled between SS_FREQ and FMAX. These values are defined in the configuration screen (FMAX) and in the adjustment screen

(SS_FREQ).

The bit ST_DIRDR (%Ixy.i.20) indicates that a movement is in progress in DIR-

DRIVE mode.

When the setpoint is changed, the output achieves the new setpoint according to a trapezoid speed law, respecting the parameterized acceleration .

Speed (Hertz)

PARAM

SS_FREQ

-SS_FREQ

DIRDRV

%Qxy.i.0

Position

Time

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Programming

Execution of the

DIRDRIVE command

The general conditions for execution of the DIRDRIVE command are as follows: l l

Axis without blocking fault (AX_OK bit: %Ixy.i.3 = 1).

STOP command (%Qxy.i.8) inactive and confirmation bit of the translator relay l

ENABLE (%Qxy.i.10) set to 1.

Parameter PARAM (%QDxy.i.2) between - FMAX and -SS_FREQ or between

SS_FREQ and FMAX of the selected axis.

Stopping a movement l l l l

A movement may be stopped by: l The appearance of the STOP command or the setting to 0 of the confirmation bit of the translator relay ENABLE (%Qxy.i.10).

The appearance of a blocking error or a software limit error.

Changing the operating mode.

Receiving a configuration.

The switch to the end of run plus limit (or minus) during a movement in the plus

(or minus) direction.

Note: Software limit monitoring remains active is the axis is referenced. To disable this monitoring, cause the axis reference to be lost by temporarily diasabling EN-

ABLE (%Qxy.i.10) to 0 and confirming by setting ENABLE to 1 or by pressing the confirmation button.

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Programming

Management of stop mode (OFF)

At a Glance

Selecting stop mode

Execution of commands in stop mode

This mode is mainly used in debugging from within the configuration editor. It can however be program-driven. In this mode the module remains passive, but continues to update the current position information (%IDxy.i.0) and the current speed information (%IDxy.i.2).

Stop mode is selected by assigning value 0 to the word MOD_SEL %QWxy.i.0.

Stop mode is also selected by the module when the PLC is in STOP mode. It is selected by default following channel configuration.

The OFF mode has no associated movement command.

The movement of the moving part is not monitored and the monitoring of software errors is disabled (with the exception of the software limit monitoring).

The translator enable output continues to be monitored by the command ENABLE

(%Qxy.i.10).

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Programming

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Adjusting step by step axes control

Introduction

Subject of this chapter

What’s in this

Chapter?

This chapter describes the principles of parameter adjustment: access to the screens, description of parameters and the adjustment procedure.

This Chapter contains the following Maps:

Topic

Preliminary operations before adjustment

Accessing adjustment parameters

Trajectory adjustment

Adjusting brake output

Adjusting the stop stage

Adjusting manual mode parameters

Confirmation of adjustment parameters

Saving / Restoring adjustment parameters

Reconfiguration in connected mode

Page

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Adjustment

Preliminary operations before adjustment

Preliminary conditions

Preliminary checks l l l l l

TSX CFY module(s) installed on the PLC,

Axes control application(s) connected to the TSX CFY module(s),

Terminal connected to the PLC via the terminal port or via network,

Axes control configuration and program completed and transferred to the PLC processor,

PLC in RUN mode. You are advised to disable the movement command application program (by using, for example, a program execution condition bit), in order to facilitate the adjustment operations.

l l l l

Check the cabling,

Check that the movements can take place safely,

Check that the mechanical stops are cabled conforming to the safety rules (generally they act directly on the power supply sequence of the translator),

Check and adjust the translator according to manufacturer’s instructions,

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Adjustment

Accessing adjustment parameters

Introduction

Accessing parameters

To access adjustment parameters, use the command Adjust from the View menu in the configuration screen of the TSX CFY. You can also select Adjust in the module zone in the configuration or debugging screens.

The adjustment screen allows you to select the channel to be adjusted and gives you access to the current or initial parameters:

Command

Choose Axis

Function

Select channel 0 for example.

This button allows you to display either the current parameters or the initial parameters.

Initial parameters

Current parameters

The initial parameters are: l The parameters entered (or defined by default) in the configuration screen in local mode. These parameters have been enabled at configuration and transferred to l the PLC.

The parameters taken into account at the time of the last reconfiguration in connected mode.

The current parameters are those which have been modified and enabled from the adjustment screen in connected mode (or by the program through an explicit exchange). These parameters are replaced by the initial parameters at the time of a cold restart.

Note: it is imperative to follow a session of determining adjustment parameters with an operation to save parameters.

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Adjustment

Adjustment parameters

The adjustment screen offers the following parameters:

File Edit

Trajectory

Start/stop frequency

Acceleration

Software Hi Limit

Software Lo limit

Output brake

Off delay

PL7 Junior: AXIS - [TSX CFY 21 [RACK 0 POSITION 3]]

Utilities View Application AP Debug Options Window

STOP

TSX CFY 21 [RACK 0 POSITION 3]

200

50 000

500 000

-1 000 000

Hertz

Hertz/s

Pulses

Stop level

Period 50 ms

Manual mode parameters

Speed 5 000 Hertz

RP Value 0 pulse

0 ms On delay 0 ms

Acceleration: [9 155, 100 000] CONNECT RUN U:SYS

Note: for each parameter, the limits are displayed in the status bar.

To display the whole of the adjustment parameters zone, select the commands:

View

→

Module zone or View

→

Channel zone (to restore these zones, select the same commands).

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Adjustment

Trajectory adjustment

At a Glance

Illustration

Description

The adjustment screen supports characterization of the trajectory on the axis: l l l l start and stop frequency, acceleration, software hi limit, software lo limit.

The input area for trajectory characteristics is as follows.

Trajectory

Start/stop frequency

Acceleration

Software Hi Limit

Software Lo limit

100 Hertz

9 155 Hertz/s

10 000 000 pulses

-10 000 000 pulses

The table below describes the dialog box for inputting trajectory characteristics.

Field Description

Start/stop frequency Called SS_FREQ, this is the minimum speed of the movement of the moving part.

If FMAX, the maximum speed defined in configuration, is lower than 4

KHz, SS_FREQ must be contained between 0 and FMAX.

Otherwise, SS_FREQ must be contained between 0 and 4KHz.

When SS_FREQ is left at zero, the start and stop frequency is the smallest frequency in the range (See Configuring control parameters,

p. 62 ).

Acceleration Called ACC, this is the moving part’s acceleration and deceleration gradient or the period of acceleration needed to go from the speedSS_FREQ to FMAX (See Configuring control parameters, p.

62 ).

When the user-defined unit is Hertz/s, this parameter must be between the lower acceleration limit for the range of max speed and the acceleration entered in configuration (See

Description, p. 63 ).

When the user-defined unit is ms, this parameter must be between the value of the max acceleration entered at configuration and 5000 ms.

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Adjustment

Field

Software Hi Limit

Software Lo limit

Description

Called SLMAX and expressed by number of pulses, this is the maximum position of the movement of the moving part in the positive direction.

Called SLMIN and expressed by number of pulses, this is the minimum position of the movement of the moving part in the negative direction.

The software limits must respect the following differences: l l

SLMIN less than or equal to SLMAX

SLMIN and SLMAX between 16 777 216 and 16 777 215

When the two software limits SLMIN and SLMAX are zero, the monitoring of these software limits is not activated. Movements can be executed on the whole of the counting range from

-16 777 216 to + 16 777 215 without, however, exceeding one of these limits.

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Adjustment

Adjusting brake output

At a Glance

Illustration

The adjustment screen is used to parameterize the brake output, when automatic l l brake management has been selected at configuration. The delay can be set: on activation, on deactivation.

The zone for inputting delays on activation and deactivation is as follows.

Output brake

Off delay 5 ms On delay 0 ms

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Adjustment

Description The table below describes the dialog box for entering delays on activation and deactivation.

Field

Delay on deactivation

Description

Delay on activation This parameter is between –1000 and 1000 milliseconds. A negative value indicates an anticipation of the end of a movement. A positive value indicates a delay.

This parameter is between –1000 and 1000 milliseconds. A negative value indicates an anticipation of the beginning of a movement. A positive value indicates a delay.

Diagram showing operation of the delay on output Brake.

SS_FREQ

SS_FREQ t (s)

0 t (s)

(1)

(3) t (s) t (s)

(2)

(4) t (s) t (s)

1 Anticipation, delay on deactivation, negative value.

2 Delay, delay on deactivation, positive value.

3 Anticipation, delay on activation, negative value.

4 Delay, delay on activation, positive value.

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Adjustment

Adjusting the stop stage

At a Glance This field is the period of the stop stage order when the speed is equal to the start and stop speed, FDA. This period must be between 0 and 1000 ms.

There is a relation between the duration of the stop stage and the brake activation delay (when this delay value is negative) in cases when automatic management

(See

Configuring the step by step motor’s brake, p. 66) of the brake is configured.

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Adjustment

Operation How axes control operates with regard to the duration of the stop stage.

If the duration of the stop stage is…

Then… greater than the brake activation delay the brake is activated as soon as the speed has reached start/stop speed, SS_FREQ. The duration of the stop stage is that of the adjustment parameter.

Speed (Hertz)

SS_FREQ

Brake output

< 0

Inactive Active t(s)

Stop plateau= 500

On delay = -200 t(s) less than the brake activation delay the duration of the stop stage is forced to the duration of the brake activation, regardless of the value fixed in adjustment mode. The brake is activated as soon as the speed of the moving part has reached start/stop speed, FDA.

Speed (Hertz)

SS_FREQ

Brake output

< 0

Inactive Active t(s)

Stop plateau= 500

On delay = -200 t(s)

Effective duration of

stop plateau = -200

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Adjustment

Adjusting manual mode parameters

At a Glance

Illustration

Adjustment of manual mode parameters defines the action of the moving part in manual mode (See

Management of manual mode, p. 112). There are two parame-

ters: l l speed, the value of the reference point.

The manual mode parameter input zone is as follows.

Manual mode parameters

Speed

RP Value

300 Hertz

10 000 pulses

Description The table below describes the dialog zone for inputting manual mode parameters.

Field

Speed

Reference point value

Description

This is the movement speed, MAN_SPD, of the moving part in manual mode.

The value of the field determines the speed of the moving part in manual mode, when it is controlled by instructions JOG+, JOG-, INC+,

INC- and the approach and stopping speed in SET_RP, etc. The value of this field must be between the start/stop speed SS_FREQ and the

maximum speed FMAX set in the configuration (See Configuring con-

trol parameters, p. 62

Just as in automatic mode, the actual movement speed is modulated by the modulation coefficient CMV.

This is the value loaded into the current position when taking a reference point in manual mode.

The value of the Reference point field, RP_POS, is transferred to the immediate position, X_POS when taking a reference point in manual mode with axes control in manual mode.

Generally speaking, the value of this field must be between SLMIN and

SLMAX. In the special case, where SLMIN=SLMAX=0, the value of this field must be between -16 777 216 and 16 777 215.

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Adjustment

Confirmation of adjustment parameters

Introduction When you have entered the adjustment parameters, you must confirm these parameters using the command Edit/Confirm or by clicking the icon.

Parameters outside the limits

If one or several parameter values are not within the authorized limits, an error message appears referencing the parameter concerned.

You must fix the parameter(s) that are at fault, then execute a further confirmation.

No modification of the configuration parameters

If you have not modified the configuration parameters, the modification of the adjustment parameters does not interrupt the working of the axis but changes its behavior.

The modified adjustment parameters are the current parameters (the initial parameters remain unchanged).

PLC processor Axes control channel

Adjustment screen

Current adjustment parameters

Cold restart

Initial adjustment parameters

Current adjustment parameters

Note: During a cold start the current parameters are replaced by the initial parameters.

The initial parameters can be updated by the save command or by a reconfiguration operation.

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Adjustment

Saving / Restoring adjustment parameters

Saving parameters

To save current parameters (updating initial parameters), activate the command

Services

→

Save parameters .

PLC processor Axes control channel

Current adjustment parameters

Save

parameters

Current adjustment parameters

Initial adjustment parameters

Restoring parameters

To replace the current parameters by the initial parameters, activate the command

Services

→

Restore parameters.

PLC processor Axes control channel

Current adjustment parameters

Restore

parameters

Current adjustment parameters

Initial adjustment parameters

TLX DS 57 PL7 40E 09.2000

Note: The instruction RESTORE_PARAM allows the application to carry out this restoration operation. The restoration is also carried out automatically at the time of a cold start.

135

Adjustment

Reconfiguration in connected mode

Introduction When configuration parameters are modified, you must confirm these parameters using the command Edit

→

Confirm or by clicking on the icon.

Parameters which can be modified in connected mode

Only parameters that are not grayed out can be modified in connected mode. Other parameters like activation of an event task must be modified in local mode. Every time that you reconfigure, the corrected resolution becomes the initial resolution.

Stopping the movement in progress

All configuration in connected mode brings about a stop in the operation of the channel concerned and thus the stopping of the movement in progress. This is signaled by a dialog box:

Validate

Reconfiguration will STOP channel 0.

Are you sure you want to reconfigure channel 0?

Yes No

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Adjustment

Parameter exchange when reconfiguring

The following diagram presents the parameter exchanges when reconfiguring in connected mode:

Configuration screen (1) PLC processor Axes control channel

Parameters for configuring

Reconfiguration

Parameters for configuring

Current adjustment parameters

Initial adjustment parameters

(1) or adjustment screen if a configuration parameter has first been modified in the configuration screen.

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137

Adjustment

138

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Debugging a step by step axes control program

Introduction

Subject of this chapter

What’s in this

Chapter?

This chapter describes the debugging functions for an axes control channel, in the different modes: stop, direct, manual, automatic. It also describes the diagnostics screen which gives you access to possible errors.

This Chapter contains the following Maps:

Topic

Debugging principles

User interface of the debugging screen

Description of the debugging screens

Detailed information on the debugging screen

Stop Mode (Off)

Direct Mode (Dir Drive)

Manual mode (Manu)

Automatic mode (Auto)

Channel diagnostics

Storage, document and simulation

Page

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Debugging

Debugging principles

Introduction

Recap of the possibilities offered by PL7

Application specific debugging screen

Axes control, being integrated into the PL7 program, uses the PL7 debugging functions. l l l

Real time display and animation of the program.

For example, in Grafcet language, if you program each movement in a step, it will be easy to know which movement is in progress.

Inserting program breakpoints and execution points: cycle by cycle, network by network or statement by statement.

Accessing animation tables. This allows you to display the status words and bits and control the command bits for the SMOVE. You can also force object bits and block the Grafcet development.

The PL7 software also offers you a application specific debugging screen specific to the TSX CFY modules, which gives you access to all necessary information and commands:

File Edit

PL7 Junior: AXIS - [TSX CFY 21 [RACK 0 POSITION 3]]

Utilities View Application AP Debug Options Window

STOP

Module zone

Debugging

Designation: MOD.MOT.PAS A PAS 2 VOIES Version: 1.0

RUN ERR IO DIAG...

Channel zone

Monitoring zone

Symbol:

Choose axis: Function:

Channel 0 Positioning

Manu

Auto

Dir

Drive

CH0

Global unforcing

DIAG...

Off

Movement: Pulse Speed: Hertz

Current

Target

0 0

Position

Speed

CMV

1 G9_

1 000

90 G

EVT Sources

G10/G11 limit

Remainder

DONE

+Direction

AT Point

NEXT Pause

Axis

Referenced

Stopped

Immediate

I/O

Extern Stop

+ Limit

- Limit

RP Cam

Event Cam

Ctrl transl

Loss of step

Commands

Enable Reactivate step

Faults

Refuse Cmd

Brake

Hardware

G05 limit Boost

Axis

RefP TO G05

Pause

STOP

RefP 0 pulses

PLC Sync

Ack.

Speed modulation coefficient: [0,2 000] CONNECT RUN U:SYS

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Debugging

This screen is includes 3 zones: l l l

Module zone,

Channel zone,

A moving part and program control zone. This zone depends upon the operating mode that you have selected via the mode switch: Automatic (Auto), Manual

(Manu), Direct (Dir Drive) or Stop (Off).

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141

Debugging

User interface of the debugging screen

Accessing the debugging screen

Command buttons

You can only access the debugging screen if the terminal is in connected mode.

l l

If this is the case, access the debugging screen in the following way:

Select the Configuration editor,

Select and confirm (or double click on) the rack position that contains the axes control module, l By default in connected mode, the debugging screen is displayed.

The operation of the command buttons is as follows:

Input field l For the on state commands (except JOG commands):

Pressing then releasing the button activates the associated command. The button’s internal light is lit when this command is recognized (the corresponding command bit %Q is set to 1).

Pressing then releasing the button a second time deactivates the command. The button’s internal light is extinguished when this command is recognized (the corresponding command bit %Q is set to 0).

For on edge commands: l

The command is activated as soon as the button is pressed then released. The button’s internal light lights up then is automatically extinguished.

The light situated next to the button signals the recognition of the command by the module.

All values entered into an input field must be confirmed using the button.

Using the keyboard

You can use the keyboard to browse in the screens or activate a command:

Keys

Shift F2

Tab

Arrow keys

Space Bar

Action

Allows you to move from one zone to another

In the same zone, allows you to move from one group of commands to another

In a group of commands, allows you to move from one command to another

Allows you to activate or deactivate a command

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Debugging

Conflicts with the program

There can be conflicts between the PL7 program that carries out the commands or writes the variables and the commands executed from the debugging screen. In all cases, it is the last recognized command that will be active.

Animation You can stop animation in the display fields: l The command Services

→

Stop animation stops animation in the display fields and disables the command buttons. For this function you can also use the icon l The command Services

→

Animate reactivates animation. You can also use the icon

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143

Debugging

Description of the debugging screens

Introduction The debugging screens have a common header, made up of a module zone and a channel zone.

TSX CFY 21 [RACK 0 POSITION 6]

Debugging

Designation: MOD.MOT.PAS A PAS 2 VOIES Version: 1.0

RUN ERR IO DIAG...

Symbol:

Choose axis: Function:

Channel 0 Positioning

Auto

Manu

Off

Dir

Drive

Global unforcing

CH0 DIAG...

Module zone This table describes the module zone:

Light

RUN

ERR

I/O

DIAG

State

Flashing

Meaning

Module is operating

Module is out of service

Communication fault with the processor

Process error (AX_FLT %Ixy.i.2 bit)

Module failed. If you press the button associated with this light, a diagnostics module dialog box appears in order to clarify the source of the error (See Diagnostics and main-

tenance, p. 159 ).

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TLX DS 57 PL7 40E 09.2000

Channel zone

DIAG

Debugging

In addition to the fields Choose axis and Function (common to all screens), this zone includes the following commands and lights:

Command

(1)

Force to 0

Force toà 1

Unforce

(2)

Function

Button to select the operating mode

If you want to change the operating mode, click on the name of the new mode to be selected (or click as many times as necessary on the button).

Using the keyboard, select the button using the Tab key then press as many times as necessary on the Space bar.

You can also access the operating modes via the View menu.

When the selected mode is actually recognized by the module, the monitoring zone for movements in the selected mode is displayed.

Caution: although selected, it is possible for the selected mode not to be recognized by the module channel (for example, if the

PLC is in STOP mode).

Forcing command menu.

If an object can be forced, a right click on the corresponding button (1) displays a menu (2) that gives access to the forcing commands: Forcing to 0 , Forcing to 1 or Unforcing.

After selecting the command by clicking on it, forcing is applied and the forcing status is signaled at the level of the button (3): l l

F for forcing to 0,

F in reverse video for forcing to 1.

The button Global unforcing in the module zone supports unforcing of all the forced objects.

(3)

CHi On: Axis (channel) configured and error free.

Flashing: Axis failed.

Off: Axis not configured.

On: Channel failed.

If you press the button associated with this light, a dialog box appears, clarifying the source of the error (See Diagnostics and

maintenance, p. 159 ).

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145

Debugging

Detailed information on the debugging screen

At a Glance

Description of the Movement /

Speed field

The debugging screen is different according to the switch position selected. There are four possible choices: l l l

Stop Mode (Off), p. 150

Direct Mode (Dir Drive), p. 151

Manual mode (Manu), p. 152

Automatic mode (Auto), p. 153

The fields and buttons that appear in the four screens are detailed below.

This table describes the display zones of the Movement / Speed field:

Display zone

X Current

X Target

X Remainder

F Current

F Target

N G G9

Position

Speed

Description

Displays the position of the moving part in number of pulses.

Displays the position setpoint of the moving part (position to be reached)

Displays the number of pulses left to run

Displays the speed of the moving part in number of pulses

Displays the speed setpoint of the moving part: speed to be reached

(manual speed modulated by the CMV coefficient)

In auto mode, displays the instruction currently being executed: l l l

N for the number of steps

G9 for the type of movement

G for the instruction code

This slide shows the evolution of the moving part between the limits defined in the configuration screen. The color of the slide is green and becomes red if the limits are exceeded

This slide displays as a % the speed of the moving part in relation to the maximum speed. The color of the slide is green and becomes red if

VMAX is exceeded

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Debugging

This table describes the lights in the Movement / Speed field:

Light

+Direction

-Direction

AT Point

State

DONE On

Immediate pause On

Meaning

Indicates a movement of the moving part in the positive direction

Indicates a movement of the moving part in the negative direction

Indicates that the movement in progress has finished and that the moving part has reached the target point

Indicates that the moving part is ready to receive a movement command

Indicates that the movement in progress has finished

Indicates that the immediate pause function is activated

(coefficient CMVset to 1). At this moment the target position contains the immediate pause stop position.

Description of

Axis field

This table describes the display and command zones of the Axis field:

Light / Button

Referenced

Stopped

Confirmation /

State

Meaning

Axis in operational state (no blocking fault)

Referenced axis:

Moving part stationary

This button is used to control the variable speed controller confirmation relay

Description of I/O field

This table describes the display zones of the I/O field:

Light

External stop

End of run +/-

RP cam

Evt cam

Meaning

Signal state (0 or 1) on External stop input. The light is on when the

external stop is activated, presence of 24V on the input.

Function activity end of run +/-. The light is on when the moving part is at the end of run limit, absence of 24V on the input.

Signal state (0 or 1) on Reference point input. The light is on when the moving part is on the cam, presence of 24V.

Signal state (0 or 1) on Event input. The light is on when the moving part is on the event cam, presence of 24V.

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147

Debugging

Description of commands

Light

Ctrl trans

Loss of step

Reset step

Meaning

The light is on when the translator does not deliver the signal ready.

The light is off when the translator gives the signal OK. The levels depend on the selection made at configuration.

Signal state (0 or 1) on Loss of step monitoring input, signal delivered by the translator. The light is on when the input is set to 1(cable disconnected), otherwise it is off.

This button controls the resetting of the detection system which detects loss of translator step.

1 = light on, 0 = light off

This table describes the command zone:

Command

STOP

Param

CMV

Description

Causes the moving part to stop according to the deceleration defined on configuration

Is used to enter the value of an incremental movement (INC+ or INC- command) or the forced reference point

Is used to enter a value from 0 to 2000 which determines the speed multiplier coefficient (0.000 to 2.000 in steps of 1/1000)

Description of

Commands field

This table describes the buttons of the Commands field:

Command

JOG-

JOG+

INC-

INC+

Manual reference point

Forced reference point

Description

Visual movement command in the negative direction (1)

Visual movement command in the positive direction (1)

Incremental movement command in the negative direction, for a distance defined in the field Param

Incremental movement command in the positive direction, for a distance defined in the field Param

Order to search and take manual reference point. The current position takes the value Value PO, defined in the adjustment screen, having found the reference point conforming to the type defined on configuration.

With an incremental encoder, forced reference point order. The current position is forced to the value defined in the field Param

This type of reference point does not cause movement of the moving part

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TLX DS 57 PL7 40E 09.2000

Description of

Faults field

Debugging

Command

Brake

Boost

Pause

Description

Manual command for the activation or deactivation of the brake output

In the case where automatic brake management is configured, it is the last activation or deactivation command edge between this manual command (%Qxy.i.13) and the automatic command that is taken into account.

Manual command for the activation or deactivation of the boost output

In the case where automatic boost management is configured, it is the last activation or deactivation command edge between this manual command (%Qxy.i.14) and the automatic command that is taken into account.

Stop the movement sequencing at the end of the next movement with stop

Order to trigger an event from the proccessor PLC Sync.

(1) These commands remain active as long as the button is pressed. They are used to release the moving part outside the soft stops (after fault acknowledgement).

This table describes the display and command zones of the Faults field:

Light / Button State

Command refused On

Hardware On

Axis

Ack.

Meaning

Refusal of last command

External hardware fault (encoder, variable speed controller, outputs, …)

Application fault (following error, soft stops, ...)

Fault acknowledgement button. An action on this button acknowledges all the faults that have disappeared

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149

Debugging

Stop Mode (Off)

At a Glance In this mode, the axis control channel only reports on position and speed. The module movement is not monitored by the channel. The translator confirmation output continues to be monitored by the ENABLE (%Qxy.i.10) command.

File Edit

PL7 Junior: AXIS - [TSX CFY 21 [RACK 0 POSITION 3]]

Utilities View Application AP Debug Options Window

STOP

Debugging

Designation: MOD.MOT.PAS A PAS 2 VOIES Version: 1.0

RUN ERR IO DIAG...

Symbol:

Choose axis: Function:

Channel 0 Positioning

Movement: Pulse Speed: Hertz

Current

F 0

Auto

Manu

Dir

Drive

CH0 DIAG...

Off

Axis

Referenced

Stopped

Faults

Hardware

Axis

Ack.

CONNECT RUN U:SYS

For details on the fields and buttons in this screen, see Detailed information on the

debugging screen, p. 146.

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TLX DS 57 PL7 40E 09.2000

Debugging

Direct Mode (Dir Drive)

Introduction Direct mode allows you to directly control the movement of the moving part, according to the movement setpoint indicated in the PARAM variable.

File Edit

PL7 Junior: AXIS - [TSX CFY 21 [RACK 0 POSITION 3]]

Utilities View Application AP Debug Options Window

STOP

Debugging

Designation: MOD.MOT.PAS A PAS 2 VOIES Version: 1.0

RUN ERR IO DIAG...

Symbol:

Choose axis: Function:

Channel 0

Movement: Pulse Speed: Hertz

Current

Position

Speed

Param

STOP

Positioning

Parameter: [-10 000, 10 000 ]

0 Hertz

Auto

Manu

Dir

Drive

CH0

Global unforcing

DIAG...

Off

Axis

Referenced

Stopped

Command

Enable

I/O

Extern Stop

+ Limit

- Limit

RP Cam

Event Cam

Ctrl transl

Loss of step

Reactivate step

Faults

Refuse Cmd

Hardware

Axis

Ack.

CONNECT RUN U:SYS

For details on the fields and buttons on this screen, see Detailed information on the

debugging screen, p. 146.

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151

Debugging

Manual mode (Manu)

Introduction Manual mode allows you to directly control the movement of the moving part, from the debugging screen. To do this you can use the commands JOG+, JOG-, INC+…

File Edit

PL7 Junior: AXIS - [TSX CFY 21 [RACK 0 POSITION 3]]

Utilities View Application AP Debug Options Window

STOP

Debugging

Designation: MOD.MOT.PAS A PAS 2 VOIES Version: 1.0

RUN ERR IO DIAG...

Symbol:

Choose axis: Function:

Channel 0 Positioning

Movement: Pulse Speed: Hertz

Current

Target

F 0 0

Position

Speed 0%

STOP

Parameter: [-16 777 216, 16 777 215]

Manu

Auto

Dir

Drive

CH0

Global unforcing

DIAG...

Off

Remainder

DONE

-Direction

AT Point

Axis

Referenced

Stopped

Commands

- JOG

- INC

Enable

+ JOG

+ INC

I/O

Extern Stop

+ Limit

- Limit

RP Cam

Event Cam

Ctrl transl

Loss of step

Reactivate step

Faults

Refuse Cmd

Hardware

Manual reference point

Axis

Forced reference point

Brake

Boost Ack.

CONNECT RUN U:SYS

For details on the fields and buttons on this screen, see Detailed information on the

debugging screen, p. 146.

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Debugging

Automatic mode (Auto)

Introduction Automatic mode is the mode in which the SMOVE functions are executed.

File Edit

PL7 Junior: AXIS - [TSX CFY 21 [RACK 0 POSITION 3]]

Utilities View Application AP Debug Options Window

STOP

Debugging

Designation: MOD.MOT.PAS A PAS 2 VOIES Version: 1.0

RUN ERR IO DIAG...

Symbol:

Choose axis: Function:

Channel 0 Positioning

Auto

Manu

Dir

Drive

CH0

Global unforcing

DIAG...

Off

Movement: Pulse Speed: Hertz

Current

Target

0 0

N 1 G9_ 90 G 5

Position

Speed

STOP

1 000

EVT Sources

G10/G11 limit

RefP

RefP 0

Remainder

DONE

G05 limit

TO G05 pulses

-Direction

Axis

Referenced

Stopped AT Point

Pause

Immediate

Commands

Brake

Boost

Pause

Enable

I/O

Extern Stop

+ Limit

- Limit

RP Cam

Event Cam

Ctrl transl

Loss of step

Reactivate step

Faults

Refuse Cmd

Hardware

Axis

PLC Sync Ack.

Speed modulation coefficient: [0,2 000] CONNECT RUN U:SYS

For details on the fields and buttons on this screen, see Detailed information on the

debugging screen, p. 146.

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153

Debugging

Channel diagnostics

Introduction In connected mode the different debugging, adjustment and configuration screens offer a DIAG button that gives access to the details on the faults detected for the module and for the channel.

Example of module diagnostics.

File Edit

PL7 Junior: AXIS - [TSX CFY 21 [RACK 0 POSITION 3]]

Utilities View Application AP Debug Options Window

STOP

Debugging

Designation: MOD.MOT.PAS A PAS 2 VOIES Version: 1.0

RUN ERR IO DIAG...

Symbol:

Choose axis: Function:

Chann Positioning

Manu

Auto

Dir

Module diagnostics

CH0 DIAG...

Internal faults

Movement: Pulse Speed: Hertz

Current

Target

0 0

N 1 G9_ 90 G 5

Position

Speed 0%

STOP

1 000

EVT Sources

G10/G11 limit

RefP

RefP 0

G05 limit

TO G05 pulses

Used to read module diagnostics

Remainder

DONE

-Direction

AT Point

Pause

Immediate

Axis

I/O

Extern Stop

Reference

Stopped

+ Limit

- Limit

RP Cam

Event Cam

Ctrl transl

Loss of step

Enable Reactivate step

Faults

Brake

Boost

Pause

Refuse Cmd

Hardware

Axis

PLC Sync

Ack.

CONNECT RUN U:SYS

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TLX DS 57 PL7 40E 09.2000

Example of channel diagnostics.

File Edit

PL7 Junior: AXIS - [TSX CFY 21 [RACK 0 POSITION 3]]

Utilities View Application AP Debug Options Window

STOP

Debugging

Designation: MOD.MOT.PAS A PAS 2 VOIES Version: 1.0

RUN ERR IO DIAG...

Symbol:

Choose axis: Function:

Channel 0 Positioning

Internal faults

Manu

Auto

Dir

Drive

CH0

Off

Global unforcing

Channel diagnostics

External faults Other faults

DIAG...

Drive fault

Debugging

Description of different fields

Commands refused

Configuration:

Adjust

Command: 16#9a MANU command error IncM stop condition

STOP

CONNECT RUN U:SYS

The Channel diagnostics screen offers the following fields:

Field

Internal errors

External errors

Other faults

Commands refused

Description

Internal errors in the module that generally necessitate the replacement of the module

Errors coming from the operating part (See Description of ex-

ternal hardware faults, p. 108 )

Faults from the application (See Description of application er-

rors, p. 110 )

Indicate the cause and the message number of a command refused (See

Description of the command refused errors, p. 111 )

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155

Debugging

Storage, document and simulation

Storage

Documentation

Simulation

When you have debugged your program in connected mode, you must carry out the following save operations: l l

Save the adjustment parameters if these have been modified. To do this, select the adjustment screen and use the command Services

→

Save parameters,

Save the application on to disk using the command File

→

Save.

l l

The documentation for the axes control application is included in the complete documentation for the PL7 application. This documentation allows you to group in a file:

The program,

The saved Configuration and Adjustment parameters.

To operate the channels of the TSX CFY module, all you need is the Telefast discrete simulator strip, reference ABE-6TES160, supplied by the 24 volts available on the rack supply, and to connect it directly to the TSX CFY’s auxiliary I/O HE10 connector via a ribbon cable.

For channel 0, add a level 1 to inputs 2, 4 and 5 (emergency stops and end of runs).

For channel 1 (only TSX CFY 21), inputs 8, 10 and 11. Leave the level 0 everywhere else.

When configuring the axis control channel, check the box drive inversions…mon-

itor input. This supports operation in the absence of any connection to the SUB D translator.

Confirm

How to carry out simulation with a

TSC CFY

Step

Action

For channel 0, add a level 1 to inputs 2, 4 and 5 (emergency stops and end of runs).

For channel 1 (only TSX CFY 21), add a level 1 to inputs 8, 10 and 11. Leave the level 0 everywhere else.

When configuring the axis control channel, check the box drive inver-

sions…monitor input. This supports operation in the absence of any connection to the SUB D translator.

Confirm the channel in the implementation screen in manual mode.

Use the buttons JOG+ or JOG- to simulate movements of the moving part.

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Operation

Designing an operator dialog

Buttons box To design a simple or a complex button box, you have at your disposal elementary commands and information, in the form of command and status bits and words (See

Application-specific step by step axes control language objects, p. 173).

Operator dialog on CCX 17

The following example allows you to carry out a movement in manual mode, of the type visual movement JOG+ and to change the coefficient of speed modulation

CMV, on an operator dialog terminal CCX 17.

It does not matter whether you carry out this command or this modification of the speed coefficient from the application specific debugging screen or from the CCX 17 terminal.

In the following ladder, %M200 corresponds to the status of the button on the

CCX 17 terminal that activates the JOG+ command.

%M200

%17.0.22

%Q7.0.1

The following ladder supports allows refreshing of the %M200 bit on each cycle, for the detection of fronts.

%M200 %M200

In the following ladder, %M200 contains the setpoint of the coefficient CMV, defined on the CCX 17 terminal. %MW0 contains the last saved setpoint CMV entered on the terminal.

COMPARE

%MW0<>%MW200

OPERATE

%MW0:=%MW200

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157

Operation

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Diagnostics and maintenance

Introduction

Subject of this chapter

What’s in this

Chapter?

This chapter describes what to do in certain maintenance situations (symptoms, diagnostics and course of action to undertake).

This Chapter contains the following Maps:

Topic

Fault monitoring and conditions of command runnability

Diagnostic help

Page

160

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159

Diagnostic and maintenance

Fault monitoring and conditions of command runnability

Fault monitoring You have at your disposal several methods of detecting a possible fault: l l the lights on the module’s panel,

The diagnostics screens which can be accessed by means of the DIAG in connected mode, from all the application-specific screens (See Channel diagnostics, l l

p. 154) in the axes control module,

The debugging screens (See

Description of the debugging screens, p. 144),

The error bits and the status words (See Application-specific step by step axes

control language objects, p. 173).

Movement commands

In order for the movement commands (in automatic or manual mode) to be executl l l l l l l able, the following conditions must be met:

The axis is configured and free of blocking errors,

The variable speed controller confirmation command ENABLE is active

(%Qxy.i.10 bit set to 1) and the STOP command is inactive,

Automatic or manual mode is selected,

For commands using absolute position, the position is between the limits SL_MIN and SL_MAX, l For commands using relative position, the target calculated from the current relative position is between the limits SL_MIN and SL_MAX,

The axes are referenced, except for reference point and JOG commands,

The speed F must be less than or equal to FMAX,

If the moving part is outside the end of run limits, the movement direction requested must be that which returns it to within limits.

Modifying the

CMV parameter

Sequence control

If a modification of the speed modulation CMV parameter involves a speed higher than FMAX, then this is limited to FMAX.

If you have not selected the option Sequence control at configuration, a continuous movement followed by any sequence control will continue until the soft stops.

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Diagnostic and maintenance

Diagnostic help

Introduction It can happen that you meet situations that you need to resolve. The following procedure to follow helps you to diagnose these situations and informs you of what to do.

Procedure to follow in various situations

New parameters are not recognized

Symptom

Diagnostics

What to do

The TSX CFY module does not seem to have recognized the new parameters written by WRITE_PARAM

Program a READ_PARAM instruction into your application so that you can find out the values really used by the module.

A WRITE_PARAM activated while another adjustment exchange is in progress is ignored.

Test the %MWxy.i.0:X2 bit before all adjustment exchange

Event processing

Symptom

Diagnostics

What to do

The event processing associated with the axes control channel is not executed l l l

Check that the whole of the string trace back for the event is valid l Event number declared in the configuration is identical to that in the event processing,

The event source is unmasked (code M of the SMOVE command),

Events are authorized at system level (%S38 = 1),

Events are unmasked at system level (UNMASKEVT())

Refer to the use of events

Adjustments are lost

Symptom

Diagnostics

What to do

Your adjustments have been lost

A cold start causes the loss of the current adjustments carried out via the screen or a WRITE_PARAM instruction

Save the current adjustments using the command Service

→

Save pa-

rameters or using the instruction SAVE_PARAM

Inconsistent status words

Symptom

Diagnostics

What to do

The status words %MWxy.i.1 and %MWxy.i.2 are not consistent with the status of the axes control channel

These words are only updated on the explicit request READ_STS

Program a READ_STS instruction in your application

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Diagnostic and maintenance

Ineffectual commands

Symptom

Diagnostics

What to do

The commands from the debugging screen are not having any effect

The application or the task is in STOP mode

Switch the application or the task into RUN mode

Non modifiable commands

Symptom

Diagnostics

What to do

Certain commands from the debugging screen are not modifiable

These bits are written by the application

Use bit forcing (for objects of type %Qxy.i.r) or rewrite your application so that it does not write these bits systematically (modification on transition and not on state)

Impossible to enter characters

Symptom

Diagnostics

What to do

It is impossible to enter more than 3 characters in the numeric fields in the adjustment and configuration screens

In the Windows configuration panel, you have not selected the thousand separator

In the Windows configuration panel, select the icon International in the field Number format.

Activate the command Modify and select a thousand separator

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Diagnostic and maintenance

Command refused

Symptom

Diagnostics

What to do

IN DIRDRIVE mode, after a stop after overshooting the soft stops, commands are refused.

The DIRDRIVE mode is activated after a session in MANU or AUTO mode during which a reference point has been taken. The axis is referenced. Monitoring of soft stops is active.

Overshooting one of these limits causes a stop with an error.

No further movement in DIRDRIVE mode is accepted.

Two types of actions are possible to restart movements: l Cause the loss of the axis reference, after the moving part has completely stopped: l l l unset the channel, %Qxy.i.10 set to 0 (ENABLE) reset the channel, %Qxy.i.10 set to 1 (ENABLE) acknowledge the error (rising edge on the command ACK_DEF,

%Qxy.i.9

l l l l

Force the position of the moving part between the soft stops: switch for a moment to MANU mode acknowledge the error (ACK_DEF) take a forced reference point at a position situated between the l soft stops switch back to DIRDRIVE mode.

Bad recognition of commands in AUTO mode

Symptom

Diagnostics

What to do

In AUTO mode, after overshooting the soft stops of the end of run, movement commands are not carried out correctly.

After overshooting an end of run limit, the only commands accepted are movement commands going back in the direction to return between the end of run limits.

Check whether the movement requested and incorrectly carried out was aiming to bring the moving part back between the end of run limits.

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Diagnostic and maintenance

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Complementary functions

Dimension learning

Introduction

Dimension learning

The following example of a PL7 program supports learning and the use of 16 dimensions.

This chart supports the programming of learning 16 dimensions.

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TLX DS 57 PL7 40E 09.2000

STEP 50 ACTION ON ACTIVATION

<stores %MW99 with a view to use it as a limit

! %MW98:= %MW99;

<Initialize the index during the learning phase

! %MW99:= -1;

TRANSITION: X50 -> X51

! RE %I2.0

STEP 51 ACTION ON ACTIVATION

<updates the index

! %MW99:= %MW99+1;

165

Complementary functions

<learning of the positions

! %MD200[%MW99]:= %ID7.0;

TRANSITION: X51 -> X52

! %MW99 <= 16

TRANSITION: X51 -> X53

! %MW99 > 16

-TRANSITION: X53 -> X50

! RE %I2.1

TRANSITION: X52 -> X51

! RE %I2.0

TRANSITION: X52 -> X50

! RE %I2.1

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Using dimensions

This chart supports the programming of using dimensions

Complementary functions

STEP 42 ACTION ON ACTIVATION

<initialize %MW97 as execution index

! %MW97:= -1;

TRANSITION: X42 -> X43

! RE %I2.2

STEP 43 ACTION ON ACTIVATION

<increments execution index

! %MW97:= %MW97+1;

<executes the next segment

! SMOVE %CH7.0 (%MW97,%KW8,%KW1,%MD200[%MW97],150000,0);

%KW8: 90 movement to absolute value

%KW1: 09 go to breakpoint

TRANSITION: X43 -> X46

! %I7.0.0 AND (%MW97 < %MW98) AND NOT %I7.0.2

TRANSITION: X43 -> X42

! (%I7.0.1 AND (%MW97 >= %MW98)) OR %I7.0.2

TRANSITION: X46 -> X43

! TRUE

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Complementary functions

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Characteristics and performance

Performance characteristics and limitations

At a Glance l l l l

This section describes the performance and characteristics of the step by step control functions: the memory size used by a SMOVE function, the time taken for the execution of step by step control functions, the module cycle time, the characteristics of the low-order value movements,

Size of an

SMOVE function

This table indicates the memory zones used during an SMOVE instruction as well as the corresponding size in number of 16 bit words.

TSX CFY 11

TSX CFY 21

Bit memory

Additional cost of first configured channel

Data zone

390

780

Program zone

170

220

2290

Execution time This table details the execution time for functions associated with step by step axes control.

Function description

Acquisition of inputs/outputs from TSX CFY

SMOVE function

READ_STATUS

READ_PARAM

WRITE_PARAM

SAVE_PARAM

Execution time

95 micro-seconds

840 micro-seconds

540 micro-seconds

460 micro-seconds

760 micro-seconds

500 micro-seconds

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Characteristics and performance

Function description

RESTORE_PARAM

Recognition of an adjustment (following a

WRITE_PARAM instruction)

Recognition of the reconfiguration of a channel

Execution time

780 micro-seconds

60 ms for the TSX CFY 11

210 ms for the TSX CFY 21

1.5 s

Note: the module cycle time is 10 ms

Small-sized movement characteristics

A low-order value movement corresponds to a movement that does not enable the speed specified in the instruction to be reached. The speed law resembles a triangle instead of a trapezoid.

l l l

Example of the instruction SMOVE %CH7.1(1, 90, 09, X1, V ,0),

X1 is the position to be reached,

V the cruising speed at which the movement must be made.

note X0, the start position of the moving part.

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Characteristics and performance

This table describes the possible scenarios.

If the distance to run is X0 to X1…

Then… is sufficient to reach the specified speed V the movement is executed according to a trapezoidal trajectory. This trajectory reveals the acceleration and deceleration periods equal to t_ACC

SS_FREQ t t_ACC t_ACC is insufficient to reach the specified speed V the movement is executed according to a triangular trajectory, the periods of the acceleration and deceleration phases are reduced in proportion to the speed.

Vp: programmed speed

Vr : real speed

Vr t

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Characteristics and performance

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Application-specific step by step axes control language objects

Introduction

Subject of this chapter

What’s in this

Chapter?

This chapter describes the language objects associated to application-specific axes control as well as the different ways of using them.

This Chapter contains the following Maps:

Topic

Introduction to the language objects of the application-specific step by step axes control function

Exchanges between the processor and the axes control module

Introduction to implicit exchanges

Introduction to explicit exchanges

Explicit object exchange and report management

General module data

Internal command data (implicit exchanges)

Internal status data (implicit exchanges)

Internal status data (explicit exchanges)

Adjustment parameters (explicit exchanges)

List of error codes CMD_FLT

Page

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Language objects

Introduction to the language objects of the application-specific step by step axes control function

General Axes control modules configured in a given position automatically generate a group of language objects enabling them to be programmed, and measurement results and diagnostics to be read.

There are two main types of language object: l implicit exchange objects which are automatically exchanged on each cycle revolution of the task associated to the module, l explicit exchange objects, which are exchanged at the request of the application, using explicit exchange instructions.

The former (implicit exchanges) involve images of module input/output: positioning results, software information and commands, necessary for operation.

The latter (explicit exchanges) are used to parameterize the module and provide additional arguments (parameters, commands and information) for advanced programming. They are not essential for normal programming.

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Language objects

Exchanges between the processor and the axes control module

Diagram showing the exchanges

The different exchanges between the processor and the axis control module are as follows:

Processor TSX CFY module

Configuration

Adjustment parameters

WRITE_PARAM (1)

READ_PARAM (1)

SAVE_PARAM (2)

RESTORE_PARAM (2)

Configuration

Adjustment parameters

Saving

Program

PL7

%I %IW

%Q %QW

Status word

%MW

Task

Event

SMOVE

Implicit exchange

READ_STS (1)

EVT

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Language objects

(1) Read or write from the adjustment screen or from the application, using explicit exchange instructions.

(2) Saving or restoring uisng commands Save parameters or Restore parameters from the PL7 Services menu or using the instructions SAVE_PARAM or

RESTORE_PARAM.

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Language objects

Introduction to implicit exchanges

At a Glance

Reminders

Illustration

These objects allow you to access inputs and software information for the application-specific function concerned.

The addressing system for words and bits is given in the Common application-specific functions section.

The images (%I and %IW) of entries to the module are updated in the processor at the beginning of the task cycle, in RUN or STOP mode.

Output commands (%Q and %QW) are updated in the module at the end of the task cycle, only when this is in RUN mode.

xy represents the position of the module, i represents the channel number (counted from 0) in the module.

The diagram below illustrates the operation cycle relating to a PLC task (cyclic execution).

Internal processing

Acquisition of input

RUN STOP

Program processing

Update output

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Language objects

Introduction to explicit exchanges

At a Glance Explicit exchanges are exchanges carried out on request of the program user using instructions: l l l l l l

READ_STS (reading of status words),

WRITE_CMD (writing of command words)

WRITE_PARAM (writing of adjustment parameters),

READ_PARAM (reading of adjustment parameters),

SAVE_PARAM (saving of adjustment parameters),

RESTORE_PARAM (restoring of adjustment parameters),

These exchanges apply to a group of %MW objects that are of the same type (status, command or parameter) on the same channel.

Note: These objects are not essential when programming a application-specific function, but they carry extra information (eg: Type of channel fault…), and supplementary commands (e.g.: positioning and adjustment commands) for more specialized programming of the application.

General principles on the use of the explicit instructions

The diagram below presents the different kinds of explicit exchanges that are possible between the PLC’s processor and the module (or the built-in interface).

PLC processor Application or interface module built-in application

%MWxy.i.r objects

%MWxy.MOD.r (1)

Status parameters

READ_STS

Status parameters

Command parameters

WRITE_CMD

Command parameters

Adjustment parameters current

WRITE_PARAM

READ_PARAM

SAVE_PARAM

Adjustment parameters current

Initial adjustment parameters

RESTORE_PARAM

(1) Only with the instructions READ_STS and WRITE_CMD.

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Management of the exchanges

Language objects

During an explicit exchange, it may be interesting to monitor the progress that this makes, in order, for example, not to take into consideration the data read until the exchange has been carried out successfully.

For this, two kinds of information are available: l detecting an exchange in progress (See Explicit exchange operation indicators: l

%MWxy.i.0, p. 182),

an end of exchange report (See

Explicit exchange report: %MWxy.i.1, p. 182).

The diagram below describes the principal of the management of an exchange

Execution of an explicit exchange

Detection of an exchange in progress

Report of the end of the exchange

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Language objects

Explicit object exchange and report management

At a Glance

Illustration

When the data is exchanged between the PLC memory and the module, the considl l erations taken by the module may require the running of several task cycles. To manage the exchanges, 2 words are used:

%MWxy.i: Exchange in progress,

%MWxy.i.1: Report.

The illustration below shows the different data bits for managing the exchanges.

Reconfiguration (X15)

Adjustment (X2)

Command (X1)

State (X0)

Status parameters

Command parameters

Adjustment parameters

READ_STS

WRITE_CMD

WRITE_PARAM

READ_PARAM

SAVE_PARAM

RESTORE_PARAM

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Description of the data bits

Language objects

Each of the word bits %MWxy.i and %Mwxy.i.1 is associated with a parameter type: l l l the bits in position 0 are associated with the status parameters: l the bit %Mwxy.i.X0 indicates if a status word read request is in progress, the bits in position 1 are associated with the command parameters: l the bit %Mwxy.i.0:X1 shows whether the command parameters are sent to l channel i of the module, the bit %MWxy.i.1:X1 specifies whether the command parameters are accepted by channel i of the module, the bits in position 2 are associated with the adjustment parameters: l the bit MWxy.i.0:X2 indicates whether the adjustment parameters are exchanged with channel i of the module (by WRITE_PARAM, READ_PARAM, l l

SAVE_PARAM, RESTORE_PARAM), the bit %MWxy.i.1:X2 specifies whether the adjustment parameters are accepted by the module. If the exchange has progressed correctly, the bit changes to 0, the bits in position 15 show a reconfiguration on channel i of the module from the terminal (modification of configuration parameters + cold start of the channel).

Note: The exchange and report words also exist at module level (%MWxy.MOD and %MWxy.MOD.1).

Example Phase 1: Transmitting data with the help of the WRITE_PARAM instruction

PLC memory

Status parameters

Command parameters

Adjustment parameters

TSX CFY module memory

Status parameters

Command parameters

Adjustment parameters

When the instruction is scanned by the PLC processor, the Exchange in progress bit is set to 1 in %MWxy.

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181

Language objects

Explicit exchange operation indicators:

%MWxy.i.0

Explicit exchange report:

%MWxy.i.1

Phase 2: Analysis of data by the I/O and report module

PLC memory

Status parameters

Command parameters

Adjustment parameters

TSX CFY module memory

Status parameters

Command parameters

Adjustment parameters

When the data is exchanged between the PLC memory and the module, the considerations taken by the data module are managed by the bit %MWxy.i.1:X2: Report (0

=correct exchange, 1= unsuccessful exchange).

Note: There are no adjustment parameters at the module level.

The table below shows the meaning of channel exchange check bits EXCH_STS.

Bit

Standard symbol

STS_IN_PROGR

Meaning

Channel status word exchange in progress

COMMAND_IN_PROGR Command word exchange in progress

ADJUST_IN_PROGR Adjustment word (parameters) exchange in progress

RECONF_IN_PROGR Channel reconfiguration in progress

The table below shows the meaning of report bits EXCH_ERR.

Bit

Standard symbol

STS_READ_ERR

COMMAND_ERR

ADJUST_ERR

RECONF_ERR

Meaning

Failure when reading channel status

Failure when sending a command word

Failure when sending an adjustment word

Failure when reconfiguring the channel

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Language objects

General module data

Fault bit

Status word

%Ixy.MOD.ERR

This bit is updated implicitly

%MWxy.MOD.2:Xj = Standard state word

Bit

Description

Internal error (module out of action)

Functional error

Module in self-test mode

Hardware or software configuration error

Missing module

This word is updated by an explicit exchange by means of the command

READ_STS % CHxy.MOD.

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Language objects

Internal command data (implicit exchanges)

Output bits

%Qxy.i.j

= Processor -> TSX CFY

Bit

Symbol

DIRDRV

JOG_P

JOG_M

INC_P

Active on

State

Edge

INC_M

SET_RP

RP_HERE

STOP

ACK_DEF

ENABLE

EXT_EVT

PAUSE

Edge

State

Edge

State

Edge

State

BRAKE Edge

BOOST Edge

ACK_STEPFLT State

Description

Movement command in loop control disabled mode

Unlimited manual movement in the + direction

Unlimited manual movement in the - direction

Order for incremental movement (PARAM) in the + direction

Order for incremental movement (PARAM) in the - direction

Manual reference point (RP_POS = source value) or switch to the non-referenced state

Forced reference point of a defined value in PARAM or switch to the referenced state / calculation offset

Immediate stop command

Fault acknowledgment

Confirmation of the axis controller safety relay

Order to trigger an event from the processor

Command to suspend movements at end of the movement in progress

Command to apply brake on the step by step motor

Boost translator

Command to reset translator step monitoring

Mode selector %QWxy.i.0

= MOD_SEL: mode selector

Value

Mode

DRV_OFF

DIRDRIVE

MANU

AUTO

Description

Measurement mode: disables CNA output

Loop control disabled mode: direct control in operation

Manual mode

Automatic mode

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Speed modulation

Movement increment

Language objects

%QWxy.i.1

= SMC: speed modulation

Value = speed modulation setpoint value. This setpoint is between 0 and 2, in 1/

1000 increments.

%QDxy.i.2

= PARAM: value of movement increment

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185

Language objects

Internal status data (implicit exchanges)

Input bits

186

CONF_OK

REF_OK

AX_EVT

HOME

DIRECT

IN_OFF

IN_DIRDR

IN_MANU

IN_AUTO

ST_DIRDR

ST_JOG_P

ST_JOG_M

ST_INC_P

ST_INC_M

ST_SETRP

ON_PAUSE

IM_PAUSE

STEP_FLT

EMG_STOP

EXT_STOP

HD_LMAX

%Ixy.i.j

= TSX CFY -> Processor

Bit

Symbol

DONE

AX_FLT

AX_OK

HD_ERR

AX_ERR

CMD_NOK

NOMOTION

AT_PNT

Description

Ready to receive a new movement command (in AUTO mode)

All instructions have been carried out: no instructions in the stack

Error present on the axis

No errors to stop the moving part

Hardware fault present

Application fault present

Command refused

Moving part stationary

Position of the moving part on target (in the window at the point, on instruction with stop)

Axis configured

Reference point taken (axis referenced)

Copy event physical inputs

Copy the CAME physical input of the module’s reference point

Signal the direction of movement, 1 + direction, 0 - direction

Stop mode selected

Direct mode active

Manual mode active

Automatic mode active

DIRDRIVE command active

Unlimited movement in the + direction in progress

Unlimited movement in the - direction in progress

Unlimited incremental movement in the + direction in progress

Unlimited incremental movement in the - direction in progress

Manual reference point in progress

Movement sequencing suspended

Movement suspended (immediate PAUSE)

Loss of step input status

Emergency stop input status

External stop input status

End of run + limit status

TLX DS 57 PL7 40E 09.2000

Language objects

Bit

Symbol

HD_LMIN

ST_BRAKE

ST_BOOST

ST_DRIVE

OVR_EVT

EVT_G07

EVT_G05

TO_G05

EVT_G1X

Description

End of run – limit status

Image of the step by step motor brake output

Image of the BOOST output activity

Translator status

Event overrun

Event source: save position

Event source: end of G05 on event

Event source: G05 timing elapsed

Event source: end of G10 or G11 on event

Other status data %IDxy.i.0

= POS: instant position

%IDxy.i.2

= SPEED: instant speed

%IDxy.i.4

= REMAIN: number of pulses left to run

%IWxy.i.6

= SYNC_N_RUN: number of steps in progress

%IDxy.i.7

= PREF: value of PREF register (only refreshed on activating event processing).

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Language objects

Internal status data (explicit exchanges)

Channel operation status

%MWxy.i.2:Xj = Channel operation status

Bit

Symbol

EXT_FLT

MOD_FLT

CONF_FLT

COM_FLT

APP_FLT

CH_LED_LOW

CH_LED_HIGH

Description

External error (idem HD_ERR bit)

Internal error: module absent, out of order or in self-test mode

Hardware or software configuration error

Communication error with the processor

Application fault (invalid configuration) or command fault

Status of the channel light, there are three scenarios: l l l

X8=X9=0 channel led off

X8=1, X9=0 channel led flashing

X8=0, X9=1 channel led on

Axis operation status

%MWxy.i.3:Xj = Axis operation status

Bit Symbol Description

Hardware faults: %Ixy.i.4 HD_ERR switches to 1 and groups together the faults below

BRAKE_FLT

DRV_FLT

Short-circuit fault on the brake output

Translator fault

EMG_STP

AUX_SUP

Emergency stop fault

24V supply fault

Application faults: %Ixy.i.5 AX_ERR switches to 1 and groups together the faults below

X3 SLMAX Maximum soft stop overshoot

X4 SLMIN Minimum soft stop overshoot

Other status data %MWxy.i.4

= N_RUN: number of steps in progress

%MWxy.i.5

= G9_COD: type of movement in progress

%MWxy.i.6

= G_COD: code of instruction in progress

%MWxy.i.7

= CMD_FLT: refusal report

%MDxy.i.8

= T_XPOS: target of the position to be reached

%MDxy.i.10

= T_SPEED: speed to be reached

Note: all this internal status data is updated on execution of the instruction

READ_PARAM %CHxy.i

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Language objects

Adjustment parameters (explicit exchanges)

Adjustment parameters

%MWxy.i.j

or %MDxy.i.j

Word

%MDxy.i.12

Symbol

ACC

%MDxy.i.14

%MDxy.i.16

%MDxy.i.18

%MDxy.i.20

%MDxy.i.22

%MWxy.i.24

%MWxy.i.25

SL_MAX

SL_MIN

SS_FREQ

MAN_SPD

RP_POS

BRK_DLY1

BRK_DLY2

%MWxy.i.26

STOP_DLY

Description

Acceleration value, dependent on the user-defined unit

High soft stop

Lower soft stop

Start and stop speed 0 to FMAX

Manual mode speed: SS_FREQ to FMAX

Reference point value in manual mode: SLMIN to SLMAX

Shift register to brake deactivation: -1000 to

1000)

Shift register to brake activation: -1000 to

1000)

The duration of the stop stage at the start and stop speed: 0 to 1000)

Note: these adjustment parameters are updated on the execution of a

READ_PARAM %Chxy.i. instruction.

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Language objects

List of error codes CMD_FLT

At a Glance

Configuration parameters

The command refused word CMD_FLT (%MWxy.i.7) is read by explicit change. The messages are also available in non-encrypted format in the diagnostics dialog box, which can be accessed via the commandDIAG.

Each byte of the word CMD_FLT is associated to a type of error: l The most significant byte signals an error in the configuration and adjustment parameters (XX00). l The least significant byte signals a refusal to execute the movement command

(00XX).

For example: CMD_FLT = 0004 (the least significant byte signals an error in the command JOG+)

Mot %MWxy.i.7

Configuration

and adjustment parameters

Most significant byte

Movement command

Least significant byte

These errors are signaled in the most significant byte of the word %MWxy.i.7. The numbers in brackets indicate the hexadecimal value of the code.

Value

2 (2)

3 (3)

4 (4)

5 (5)

Meaning

Reference point configuration error

Event priority configuration error

Maximum frequency configuration error

Maximum acceleration configuration error

Adjustment parameter

These errors are signaled in the most significant byte of the word %MWxy.i.7. The numbers in brackets indicate the hexadecimal value of the code.

Value

7 (07)

8 (08)

9 (09)

10 (0A)

11 (0B)

12 (0C)

13 (0D)

Meaning

Acceleration profile parameter error

Software Hi Limit parameter error

Software Lo limit parameter error

Start and stop frequency parameter error

Frequency parameter error in manual mode

Reference point value parameter error

Delay on deactivation of brake parameter error

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Value

14 (0E)

15 (0F)

32 (20)

Language objects

Meaning

Delay on activation of brake parameter error

Stop stage parameter error

Parameter error, more than one WRITE_PARAM during movement

Movement command refused

TLX DS 57 PL7 40E 09.2000

These errors are signaled in the least significant byte of the word %MWxy.i.7. The numbers in brackets indicate the hexadecimal value of the code.

16 (10)

17 (11)

18 (12)

21 (15)

22 (16)

23 (17)

24 (18)

25 (19)

26 (1A)

27 (1B)

48 (30)

49 (31)

8 (8)

9 (9)

10 (0A)

11 (0B)

12 (0C)

13 (0D)

14 (0E)

15 (0F)

Value

1 (1)

2 (2)

3 (3)

4 (4)

5 (5)

6 (6)

7 (7)

Message

MANU command error insufficient conditions (Mode, Value, etc.)

MANU command error MANU movement in progress

MANU command error simultaneous commands

MANU command error JogP

MANU command error JogM

MANU command error IncP

MANU command error IncM

MANU command error IncP parameter

MANU command error IncM parameter

MANU command error manual RP

MANU command error forced RP

AUTO command error insufficient conditions (parameters)

AUTO command error AUTO movement in progress

SMOVE command error insufficient conditions (Mode)

SMOVE G01 command error (1)

SMOVE G09 command error (1)

SMOVE G10 command error (1)

SMOVE G11 command error (1)

SMOVE G14 command error (1)

SMOVE G05 command error (1)

SMOVE G07 command error (1)

SMOVE G62 command error (1)

SMOVE execution command error

AUTO command error movement in progress

AUTO Command error, stack full

DIRDRIVE command error, insufficient command

DIRDRIVE command error, with mode change in progress

191

Language objects

192

56 (38)

57 (39)

58 (3A)

59 (3B)

60 (3C)

61 (3D)

96 (60)

97 (61)

Value

50 (32)

51 (33)

52 (34)

53 (35)

54 (36)

55 (37)

Message

DIRDRIVE command error, with moving axis

DIRDRIVE command error, with stopped axis

DIRDRIVE command error, with disabled axis

DIRDRIVE command error, with blocking fault

DIRDRIVE command error, with frequency less than SS_FREQ

DIRDRIVE command error, with frequency more than FMAX

DIRDRIVE command error, with axis at the end of run + limit

DIRDRIVE command error, with axis at the end of run - limit

DIRDRIVE command error, with axis outside the end of run + limit

DIRDRIVE command error, with axis outside the end of run - limit

DIRDRIVE command error, with axis outside the Software Hi Limit

DIRDRIVE command error, with axis outside the Software Lo Limit

MANU JogP command error in Software Hi Limit

MANU JogP command error, with stopped axis

101 (65)

102 (66)

MANU JogP command error, JogM movement in progress

MANU JogP command error at the end of run + limit

103 (67) MANU JogP command error position above the end of run + limit

108 (6C) MANU JogP command error blocking fault other than software limit

109 (6D) MANU JogP command error unacknowledged software limit blocking fault

110 (6E) MANU JogP command error, disabled axis

113 (71)

116 (74)

MANU JogM command error, stopped axis

MANU JogM command error, JogP movement in progress

118 (76)

119 (77)

MANU JogM command error at the end of run - limit

MANU JogM command error position above the end of run - limit

124 (7C) MANU JogM command error blocking fault other than software limit

125 (7D) MANU JogM command error unacknowledged software limit blocking fault

126 (7E) MANU JogM command error, disabled axis

127 (7F) MANU JogM command error in Software Lo Limit

130 (82)

131 (83)

132 (84)

133 (85)

134 (86)

135 (87)

MANU IncP command error position less than the Software Lo Limit

MANU IncP command error position more than the Software Hi Limit

MANU IncP command error, JogP movement in progress

MANU IncP command error, JogM movement in progress

MANU IncP command error at the end of run - limit

MANU IncP command error position above the end of run + limit

TLX DS 57 PL7 40E 09.2000

Language objects

Value

136 (88)

137 (89)

138 (8A)

141 (8D)

146 (92)

147 (93)

148 (94)

149 (95)

150 (96)

151 (97)

152 (98)

154 (9A)

155 (9B)

158 (9E)

Message

MANU IncP command error, axis not referenced

MANU IncP command error causes movement of the Software Lo Limit

MANU Inc P command error stop condition

MANU IncP command error, disabled axis

MANU IncM command error position less than the Software Lo Limit

MANU IncM command error position above the Software Hi Limit

MANU IncM command error, JogP movement in progress

MANU IncM command error, JogM movement in progress

MANU IncM command error at the end of run - limit

MANU IncM command error position above the end of run + limit

MANU IncM command error, axis not referenced

MANU IncM command error stop condition

MANU IncM command error causes movement of the Software Hi Limit

MANU IncM command error, disabled axis

164 (A4)

165 (A5)

MANU manual RP manual IncP command error, JogP movement in progress

MANU manual PO manual IncM command error, JogM movement in progress

170 (AA) MANU error command manual PO stop condition

174 (AE) MANU command error, manual PO disabled axis

178 (B2)

179 (B3)

180 (B4)

181 (B5)

MANU command error forced RP position less than the Software Lo Limit

MANU command error forced RP position above the Software Hi Limit

MANU command error, forced RP JogP movement in progress

MANU command error, forced RP JogM movement in progress

189 (BD) MANU command error forced RP with unacknowledged software limit error

(1) Indicates that one of the parameters of the SMOVE function does not conform.

Examples: invalid movement type code, position outside the software limits, speed greater than FMAX, …

193

Language objects

194

TLX DS 57 PL7 40E 09.2000

Index

A C

Symbols

%Ixy.i.ERR, 107

Numerics

24V supply, 108

A

Adjustment

Brake, 129

Confirmation, 134

Manual mode parameters, 133

Parameters, 125

Preliminary operations, 124

Application

Application errors, 104, 110

Approach speed, 117

AT Point, 147

Auto, 153

B

Blocking errors, 105

Boost, 149

Brake, 149

Brake output short circuit, 108

C

CCX 17, 157

CMD_FLT, 190

CMV, 148

Command refused, 111, 149

Commands refused, 104

Configuration

Command parameters, 62

Confirmation, 73

Declaring a module, 53

Translator inversion, 64

TLX DS 57 PL7 40E 09/200

195

Index

D

Debugging

Dimension learning, 165

DIRDRIVE, 119

Documentation, 156

DONE, 147

E

Errors

Levels of signaling, 106

Programming, 105

Signaling, 105

Event processing, 101

Example

Instruction codes, 93

Manual mode, 46

Preliminary, 37

Prerequisites, 28

Repetitive movements, 93

I

Exchanges

Synthesis, 175

Exemple

Actions, 42

Transitions, 41

External hardware faults, 104, 108

External stop, 147

F

F Current, 146

F Target, 146

Fault monitoring, 160

Forced reference point, 118

G

Incremental movement, 116

J

196

TLX DS 57 PL7 40E 09/2000

L

Language objects

Adjustment paramters, 189

Command, 184

Exchange management, 180

Explicit exchanges, 178

Explicit status data, 188

General, 174

Implicit, 177

Module level data, 183

Status data, 186

Levels of gravity, 105

Loss of step, 148

Programming, 119

Basic movements, 85

Command sequencing, 95

Deferred pause, 97

Description of instruction codes, 87

Event processing, 101

Forced reference point, 118

Immediate pause, 99

Incremental movement, 116

Managing errors, 104

Manual mode, 112

Operating modes of a channel, 78

Principles, 77

Reference point, 117

SMOVE function, 79

SMOVE instruction codes, 83

SMOVE parameters, 81

Visual movement, 114

Index

M

Manu, 152

Manual mode, 112

Module errors, 104

Movement speed, 114, 116

N

N, 146

NEXT, 147

Non critical errors, 105

P

Power outage and return, 103

Powering up, 103

Program

Transfer, 45

R

Reconfiguration, 103

Reference point, 117

Releasing the software limits, 115

Reset step, 148

Restoring

Adjustment parameters, 135

RP Cam, 147

RP_HERE, 118

O

OFF, 121, 150

Operating modes, 103

Operator dialog, 157

S

Saving

Adjustment parameters, 135

SET_RP, 117

SMOVE

Basic movements, 85

Instruction code, 87

Instructions description, 87

TLX DS 57 PL7 40E 09/2000

197

Index

Stopping a movement, 113

stopping a movement, 120

Storage, 156

Switching from RUN to STOP mode, 103

Synchronization of several axes, 97

T

Translator, 109

V

Visual movement, 114

X

X Current, 146

X Remainder, 146

X Target, 146

198

TLX DS 57 PL7 40E 09/2000

Oglas

PL7 Junior/Pro

Premium PLC

Application-specific functions

Step-by-step axis control

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

Chapter 12 Application-specific step by step axes control language objects

Index

About the book

At a Glance

General on step by step axes control

Introduction

Introduction to the step by step axes control environment

Functionality offered by the axes control modules

General on the step by step axes control

Implementation methodology

Implementation methodology for step by step axes control

Introductory example

Introduction

Description of the example

Prerequisites

Configuring the TSX CFY module

Adjusting the TSX CFY module

Symbolization of variables in the example

Programming preliminary processing

Programming Grafcet

Programming transitions

Programming actions

Programming subsequent handling

Program transfer

Taking over in manual mode

Debugging

Archiving

Configuring step by step axes control

Introduction

Configuring axes control modules

Declaring axes control modules

Accessing the parameters configuration screen

Configuring user units

Configuring the translator’s command mode

Configuring control parameters

Configuring translator inversion

Configuring translator boost

Configuring the step by step motor’s brake

Configuring event tasks

Reference point configuration

Confirmation of configuration parameters

Validate

Cannot validate!

Error in configuration parameters:

Maximum speed out of range.

Programming step by step axes control

Introduction

Principles of programming a step by step axis

Operating modes

Programming the SMOVE function (in automatic mode)

Inputting SMOVE function parameters

Description of the SMOVE function parameters

Instruction codes for the SMOVE function

Description of basic movements with the SMOVE function

Description of SMOVE instruction codes

SS_FREQ 5000000

SS_FREQ

2000

Example of using an indexed position (repetitive movements)

Movement command sequencing

Deferred PAUSE function

Immediate PAUSE function

Event processing