The TSX CCY 1128 electronic cam module is designed to control 24 discrete physical outputs independently and with a very short response time (<0.2ms).

3.3 or above).

Its software is installed using PL7 Junior or Pro software (software version 3.4 or above) and the PL7 software enhancement patch.

l l l l

The TSX CCY 1128 module can process applications with the following types of motion: single-direction rotary (e.g.: mechanical presses), alternating (e.g.: hydraulic presses, transfer machines), cyclical, with periodic entry of parts to be processed (e.g.: packaging machines) continuous, with random entry of parts to be processed (e.g.: conveyors)

This table summarizes the main functional characteristics of the electronic cam module.

Characteristic

Number of cams

Number of tracks

Position encoder inputs

Outputs controlled

Types of cam

Associated functions

Value

128 maximum

32 (24 directly associated to the 24 physical outputs, 8 logic) incremental or absolute

24 discrete outputs 24V, 0.5A

position, monostable, brake compensating for axis play, readjusting the position, capturing the readings, switching anticipation, parts counter, generating events.

TLX DS 57 PL7 xx

Introduction to the electronic cam module

Operation of the electronic Cam Module

Introduction

Illustration

Description

The module calculates the position’s reading from an absolute or incremental encoder connected to its inputs. The module controls its outputs depending on this position and on the transferred cam program (acceptance).

The following diagram illustrates the operation of the cam module.

TSX 57 processor Electronic cam module Application

Tracks

Configuration

Recipe

Actuator

Cam processor Encoder

Sequential program

Position

Axis

Position: the module calculates the position’s reading (angular and number of turns) according to the parameters provided by the position encoder.

Cam processor: defines when the cams switch from 1 to 0 according to the l l l configuration and acceptance parameters transmitted by the PLC processor.

Tracks: control the outputs of the module according to the status of the cams associated with them.

PLC interface: this enables: the transfer of the configuration and acceptance parameters to the module, hardware faults to be recognized in the sequential program: the management of the machine operating modes and the extension of the module functions by acting directly on the outputs.

TLX DS 57 PL7 xx

Introduction to the electronic cam module

Position reading

Calculation of the Position

Value

Using an incremental or absolute position encoder, the module calculates: l l the angular position value of the machine, the turn number value (for multi-turn processes).

All the operations performed in the module are based on the angular value. The number of turns may be taken into account in the sequential program.

Position Encoder The module accepts 2 encoder types

Encoder type

Incremental

Absolute

Characteristics l l l l l l

500 kHz bandwidth multiplication by 4 line check

SSi frame, any type of 8..25 bit format transmission frequency determined automatically reduction of resolution by 2, 4, 8, 16 and 32

Associated

Functions

Note: The cam module also takes parallel output absolute encoders (via Telefast

ABE 7CPA11).

In addition to the basic functions, the electronic cam module provides the following functions:

Function

Readjustment (See

Configuring the position recalibration function for

incremental encoders, p. 74)

Captures (See Capture

function configuration, p. 75)

Compensation for wear (See

Entering acquisition parameters for an

incremental encoder, p. 83)

Role initializes the position reading value take various types of reading, such as: length of parts, number of pulses per turn, incoming angle of parts, slip compensates for play when there is a change of direction of movement

TLX DS 57 PL7 xx

Introduction to the electronic cam module

Cam processing operation

Role of the

Tracks and the

Cams

A track is made up of one or more cams. It controls a physical output of the module.

A cam defines an action on the output in a position reading interval.

Example of a cam in active position in both forward and reverse directions: the output associated to the track is activated when the angular reading is between 2 position values, X1 and X2 (when moving in either direction.).

State of the Encoder rotation

Forward

Forward direction

Reverse direction

Analogy with

Mechanical

Cams

The following illustration shows a mechanical equivalent of the electronic cam.

Encoder Track 0 Track 1 Track n

Cams

Position

Output

TLX DS 57 PL7 xx

Introduction to the electronic cam module

Operation The following table describes the operation of a track to which 2 cams are associated:

Phase Phase Description

1 The axis turns forward and drives the position encoder.

The module calculates the position reading by evaluating the encoder increments.

Track i is not active, output Qxy.i is at 0.

2 When threshold X1 on cam 0 is reached: l l track i becomes active, output Qxy.i switches to 1.

3 When threshold X2 on cam 0 is reached: l l track i becomes inactive, output Qxy.i switches to 0.

4 When threshold X1 on cam 1 is reached, l l track i becomes active, output Qxy.i switches to 1.

5 When threshold X2 on cam 1 is reached, l l track i becomes inactive, output Qxy.i switches to 0.

6 The axis continues to rotate and the process is repeated (returns to phase no. 1).

TLX DS 57 PL7 xx

3 types of cam

Introduction to the electronic cam module

The following table describes the 3 types of cam available. These cams can be active in forward or reverse direction, or forward and reverse simultaneously.

Type of cam

Position (See Cam in

position, p. 93)

Monostable (See

Monostable cam, p. 96)

Braking (See Breaking

cam, p. 97)

Role

A position cam is a cam whose logic state depends on the position of the axis in relation to 2 thresholds.

A monostable cam is one which switches to 1 when a threshold is crossed and returns to 0 after a time delay. This function is suitable for slow shaft detection.

A brake cam is one which switches to 1 when a threshold is crossed and returns to 0 when the same threshold is crossed in the opposite direction. This function is suitable for controlling braking at the top dead center of the machine.

Associated

Functions

In addition to the basic functions, the electronic cam module provides the following functions:

Function

Feedforward (See

Parametering for the

tracks, p. 89)

Parallel track (See

Parametering for the

tracks, p. 89)

Event (See Parametering

for the tracks, p. 89)

Parts counter (See

Parametering for the

parts counter, p. 87)

Role

Compensates for the delay caused by the machine’s actuators.

Makes 2 tracks in one group parallel.

Triggers an event each time the track is switched.

Manages the number of parts processed or cycles performed and reacts on the process when the counter has reached the limit value.

TLX DS 57 PL7 xx

Introduction to the electronic cam module

Structuring the cam processes

General

Distributing the

Tracks and the

Cams

The cam process is done by a maximum of 128 cams divided between 32 tracks.

The tracks are associated with the outputs of the module.

Processing is organized into 4 groups of 8 tracks, with groups 0 and 1 being associated with connector 0 on the module and groups 2 and 3 associated with connector 1.

The following table describes the complete processing structure and the relationships with the module outputs.

Connector

Group

Maximum

Number of

Cams

Tracks

Outputs

Connector

0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7

Q0.

0 1 2 3 4 5 6 7

Q1.

0 1 2 3

0 1 2 3 4 5 6 7

Q2.

0 1 2 3 4 5 6 7

Q3.

0 1 2 3

Up to 32 cams can be assigned to one track, but in this case it is no longer possible to assign cams to the other tracks in the same group.

Tracks 4, 5, 6 and 7 of groups 1 and 3 are not linked to any physical output, and can be paralleled with tracks 0, 1, 2 and 3 of the same groups, or they can be used to control an output of a discrete module via the sequential program.

TLX DS 57 PL7 xx

Example

Introduction to the electronic cam module

In the example below, 3 cams have been assigned to track 2 of group 1, which is associated with connector 0. This track controls output Q1.2

Electronic cam

Acquisition

Cam processor

Parts counter

Connector0

Group0

Group1

Track0

Track1

Track2

Cam0 P(100, 200, 0)

Cam1 M(50, 0, 20)

Cam2 F(10, 220, 0)

Track3

Track4

Track5

Track6

Track7

Connector1

TLX DS 57 PL7 xx

Introduction to the electronic cam module

Interface with the PLC program

General

Illustration of exchanges

Although it is independent, the processing of the electronic cam module is controlled by the sequential program of the PLC processor.

The electronic cam module benefits from: l performances due to the independent module process (independence in relation l to the cycles of PLC tasks) automatic cyclic exchanges with the main program in order to communicate with the other parts of the application.

States are read and commands written via the PLC sequential program using language objects associated with the module: %I, %Q, %M, etc accessible via mnemonics.

The following diagram illustrates the various exchanges between the electronic cam module and the PLC processor.

TSX CCY 1128 PLC processor

Recipe

Events

States

Commands

%MW

%IW

%I / %IW

%Q / %QW

TLX DS 57 PL7 xx

Description of the data exchanged

Introduction to the electronic cam module

The following table describes the main data that is exchanged.

Type of data

Recipe

Statuses

Commands

Event

Description

The recipe groups together the data required for the module to control the machine for a series of parts. The recipe can be modified or completely changed by the PLC application. All this information is contained in the %MW PLC words in the memory zone reserved for the module.

l l

It contains the: l data for acquisition: the value of recalibration, play, parameters of the encoder (offset, reduction factor) etc.

descriptors of the tracks: parts counter,anticipation… cam descriptors: cam type, threshold values…

This data is used to control the electronic cam application in order to supervise, diagnose, or perform operations on the other elements of the application. It contains the values: l l l l l l of the states of the physical inputs of the position reading (angle and number of turns) of the parts counter of the registers of capture of the states of the tracks and the outputs of any faults

This data is used to control the electronic cam application from the

PLC processor program to perform operations on the operating modes, enable the functions, force the outputs, etc.

l l l

It contains the commands: l l l for starting or stopping the cam program enabling the functions: recalibration, capture, position counting direct commands on the following functions: recalibration, capture, parts counting enabling cams and tracks forcing outputs masking events

Activates the PLC processor event task. The module transmits data to the PLC processor regarding: l l the source of the event the angle values and number of turns which have been captured

TLX DS 57 PL7 xx

Introduction to the electronic cam module

Functions for the module’s software implemention.

General

Description of the Functions

PL7 software is used for the software implementation of the TSX CCY 1128 module.

The following table describes the functions specific to the electronic cam provided by PL7 for implementing a TSX CCY 1128 module.

Functions Description Operating mode of the terminal

Configuration Used for entering the configuration parameters of the module: l acquisition: type of encoder, reading format, type of recalibration, type of l l capture...

cam processor: resetting the tracks, performance with errors...

connector: inversion of the tracks.

Adjusting the recipe

Used for entering the adjustment parameters of the recipe: l acquisition: number of points per cycle, play, recalibration value… l cam processor: association of the cams with the tracks, track parameters, cam parameters, etc l Parts counter: threshold

Adjustment

Local or connected

Used to modify certain adjustment parameters of the module recipe without stopping the cam processor: l l acquisition: play, recalibration value, cam processor: anticipation factor, thresholds and values of cam time delays.

Connected

Operating mode of the cam processor

Stop

Stop or Run

TLX DS 57 PL7 xx

Introduction to the electronic cam module

Functions

Debugging

Description

Used to execute the following commands: l l l enabling cams, enabling, forcing outputs, enabling, activating recalibration functions, capturing.

It can also be used to display the following statuses: position reading, inputs, etc, and to perform module and application diagnostics.

Operating mode of the terminal

Connected

Operating mode of the cam processor

Stop or Run

TLX DS 57 PL7 xx

Introduction to the electronic cam module

Methodology for setting up module software

Illustration The following flowchart summarizes the various implementation phases for an electronic cam application.

In local mode

Entering configuration parameters

Configuration Editor:

Configuration mode

Design

Enter recipe adjustment parameters

Configuration Editor:

Recipe/Adjustment mode

Program Editor

Programming.

Transfer application to

PLC memory

In connected mode:

Parameter adjustment

Adjustment and

Debugging

Configuration Editor:

Adjustment mode or

Recipe/Adjustment mode

Configuration Editor:

Debugging mode

Documentation Editor

File editing

In connected

Operation

CCX 17

Note: the variables editor offers the Presymbolization function which automatically generates the symbols for the electronic cam module.

TLX DS 57 PL7 xx

Introduction to the electronic cam module

General ergonomics for the module implementation functions

Screen

The functions for implementing the module are accessed from the TSX CCY 1128 module’s hardware configuration screen.

TSX CCY 1128 IE 06 [RACK 0 POSITION 4]

Recipe adjustment

Designation: MOD.ELEC CAM. 128 CAMS

Symbol:

Function:

Electronic cam

Acquisition

Cam processor

Parts counter

Connector0

Group0

Track0

Track1

Track2

Track3

Track4

Track5

Track6

Track7

Group1

Connector1

Task:

MAST

Adjustment parameters: Acquisition

Axis

No. of pulses/cycle:

Initial value:

256

Axis play value:

Initial value:

0 pulses

Recalibration

Value of the angle: 0

Initial value: 0 pulses

This table defines the different addresses:

Address Role

1 Drop-down list, allowing you to select the function for implementing the module.

Browser zone, displays and provides access to all the component parts of the cam processing.

Entry zone for entering parameters or commands (debugging screen).

TLX DS 57 PL7 xx

Introduction to the electronic cam module

Browser

Parameter entry

The browser for the electronic cam function presents the contents of an electronic cam application in a tree structure.

l l l l l l l

It can be used to navigate within the application, providing direct access to the parameter entry or debugging screens associated with the following functions:

Acquisition

Cam processor

Parts counter

Connectors

Groups

Tracks

Cams l l l l

The colors of the parameters in the entry fields have the following meanings:

Black: parameters which can be modified

Grayed out: parameters which cannot be modified

Blue: parameters which can be modified in adjust mode

Red: incorrect parameter value entered

TLX DS 57 PL7 xx

Types of applications

At a glance

Subject of this chapter

What's in this chapter?

This chapter describes the various fields and types of application an electronic cam can process.

This chapter contains the following topics:

Topic

Areas of application

Alternating movement

Use in alternating motion

Rotary movements

Use for Rotary Motion

Cyclic movements

Use for cyclic motion

Continuous movement

Use for continuous motion

Page

TLX DS 57 PL7 xx

Types of applications

Areas of application

Areas of

Application

The module manages high-speed machines autonomously.

The areas of application are: l l l l l

Mechanical or hydraulic presses,

Revolving transfer machines,

Transfer machines

Packaging machines,

Woodworking machines

The machines in these various areas are characterized according to the type of

movement performed by the machine axis.

TLX DS 57 PL7 xx

Types of applications

Alternating movement

Area

Example of an alternating axis

This is for revolving transfer machines and hydraulic presses.

The alternating movement of the axis is "to-and-fro".

The rotation speed can vary greatly during the machine cycle.

Outputs are positioned in both directions. The forward program can differ from the reverse program. There may be a prohibited zone defined as a protective zone

(brake control).

In this application, the encoder resolution is 4000 pulses per cycle. The permitted movement zone is 3992 pulses. Recalibration is performed at 90° of the mechanical origin (0) which is not accessible.

Prohibited zone

Work zone

(re)calibrating function

TLX DS 57 PL7 xx

Types of applications

Timing diagram of an output

Timing diagram

Prohibited zone

Outward

Return

Prohibited zone

TLX DS 57 PL7 xx

Types of applications

Use in alternating motion

Using the module

Anticipation

In this type of application, the user indicates the angular resolution. The number of counter pulses in 360° (a cycle), are indicated. The angle measurement will be done in the "0" to "resolution -1" interval with: l An incremental encoder, recalibrating the reading at the machine origin (cams reference) can be done with a value other than "0". Each time the machine is started up with an incremental encoder. At each machine cycle if the axis drive slips.

l With an absolute encoder, the module can correct the offset of the encoder on the machine 0. This type of encoder is perfectly suitable for this type of application if the drive does not slip.

The module can correct the error due to the axis play when the direction of movement is reversed.

Brake control can be programmed on an output to generate the protective function of the "prohibited zone".

The parts counter function can be programmed to indicate the number of cycles being run.

For high-speed machines, it is possible to correct the following very precisely: the actuator ascent time and the internal module processing time, if required.

A fine resolution and a large number of pulses per cycle, ensure precise anticipation.

For example: if the user wishes to anticipate the command of an actuator by 1ms, the encoder must be able to provide more than 5 pulses in that time. The speed must be stabilized before switching to the cam. This is particularly important after a reversal of the direction of rotation.

TLX DS 57 PL7 xx

Types of applications

Rotary movements

Area

Example of a rotating axis

This is for mechanical presses and packaging machines.

The main movement of the axis is in a single direction of rotation. The positioning of the outputs is the same for each cycle. Outputs can be activated between two cycles.

The linear speed is not necessarily constant during movement. The machine must stop within a precise zone.

Two types of encoders can be used, absolute or incremental. For drives with slip, it is preferable to use an incremental encoder.

A press cycle represents 2000 encoder pulses. Synchronization of the axis

(correction of slip) will start at 800 pulses in relation to the physical origin of the tools.

Recalibration is carried out systematically at each cycle.

Real angle value

Pulses

Encoder synchro

Output timing diagram

1 cycle

TLX DS 57 PL7 xx

Types of applications

Use for Rotary Motion

Using the module

Anticipation

For rotary movement, the user will indicate the number of pulses in a machine cycle.

l l

The cams can be declared for all the values of a cycle.

The activity zone of an output can be programmed between two cycles.

l l l

Recalibrating the position reading on the machine origin (cam reference) can be done with a value other than "0":

Each time the machine is started up,

On each machine cycle for drives with slip,

With an absolute encoder, the module can correct the offset on the machine 0. It can also apply an angle of deviation in relation to this same machine 0.

l l l

Module capture functions allow the following to be read:

The number of counter pulses in a cycle,

The axis slip (value of the angle before recalibration),

The angle that parts arrive at, or their dimensions.

The parts counter function can be programmed to indicate the number of presses performed.

For high-speed machines, it is possible to correct the following very precisely: the actuator ascent time and the internal module processing time, if required.

l A fine resolution and a large number of pulses per cycle, ensure precise anticipation. For example: if the user wishes to anticipate the command of an actuator by 1ms, the encoder must be able to provide more than 5 pulses in that time.

Caution: speed variation must be negligible in a period corresponding to the largest anticipation value requested.

TLX DS 57 PL7 xx

Types of applications

Cyclic movements

Area

Example of a cyclical axis

This is for packaging and bottling machines.

The main movement of the axis is in a single direction of rotation.

The linear speed is constant during movement, or varies slowly in relation to the machine rate. The positioning of the outputs is the same for each cycle.

Parts arrive periodically: l One part for each cycle. All the parts should enter systematically for the same position angle value in each cycle (mechanical problem).

l l

There can be active cams on several cycles.

Certain grouping operations, for example, may be performed in a single cycle

(one cycle in 4, for example).

In this type of application, recipe means a usage value. The recipe groups together the data required for the module to control the machine for a series of parts. The recipe can be modified or completely changed by the PLC application.

Two types of absolute encoder can be used, single-turn or multi-turn. The number of turns is not necessarily a power of 2.

A cycle is made up of 1024 pulses and corresponds to the distance between two parts. The complete machine cycle is performed over 8 cycles. The start of the cycle

(arrival of the part) is offset by 50 pulses in relation to the machine 0.

TLX DS 57 PL7 xx

Reflex operations on parts:

Types of applications

> < 50 pulses

Point 0 of the machine is defined when the tool box and the conveyor are synchronized (indexes facing).

Types of applications

Use for cyclic motion

Using the Module For cyclic movement, the user indicates the resolution in a basic cycle and the number of turns per machine cycle.

The number of encoder pulses for a cycle (up to 32767) will be indicated; the position reading will be taken in the range ["0" to "resolution -1"].

The number of cycles per machine cycle (up to 32767) will also be indicated.

The cycle number value will be set in the range ["0" to "No. of cycles -1"].

The angle reading and the reading of the number of cycles can be (re)calibrated, independently or simultaneously, on the machine 0 position: l l l l l

When a machine is debugged (with an absolute encoder).

Each time the machine is started up (with an incremental encoder).

The cams used can be declared for all the values of a cycle.

The activity zone of an output can be programmed between two cycles.

From one series to the next, the parts may arrive at different angles.

It is possible to adjust the angle at which the parts arrive in the periodical process without modifying either (re)calibration on position 0 of the machine or the whole cam program in the absolute encoder.

It is possible to construct a cam profile that reacts with good precision over several cycles.

Option to force the cam output using the application program.

Cycle 0 Cycle 1 Cycle 2 Cycle 3

Cam

Forcing bit

Real status of the output

The use of an event cam is recommended in this case.

The "parts counter" function can be programmed to indicate the number of parts completed or to enable the action of a cam once a certain number of parts is reached.

The module can indicate the linear speed of the axis.

It can also provide the number of counter pulses in a cycle (only when using an incremental encoder).

The "slow shaft detection" function can be obtained on a track associated to a time delay cam.

TLX DS 57 PL7 xx

Anticipation

Types of applications

For high-speed machines, it is possible to correct the following very precisely: the actuator ascent time and the internal module processing time, if required.

A fine resolution and a large number of pulses per cycle ensure precise anticipation.

For example: if the use wishes to anticipate the command of an actuator by 1ms, the encoder must be able to provide more than 5 pulses in that time.

TLX DS 57 PL7 xx

Types of applications

Continuous movement

Area

Machines that set a reference point on 1 part

Example

Continuous movement is for packaging machines, conveyors, tool boxes

(woodworking machines, for example).

The main movement of the axis is in a single direction of rotation.

The machine operates continuously and drives an incremental encoder.

The linear speed is constant during operation or varies slowly in relation to the machine rate.

Parts arrive on the machine randomly, but they are all processed in the same way.

There must be a sensor that sets a reference point for each part as it arrives.

The process operates on one part at a time (one station).

The reflex functions are finished before the next part arrives. The reference point for each part is set by recalibrating the current value.

The position value is recalibrated to 0.

The dimension of each tool is an absolute valu

Recalibrating the current value

Conveyor

The work area is less than 32767 pulses. The position value remains outside the work zone until adjustment.

Actual recalibration value

Cam program work zone

TLX DS 57 PL7 xx

Types of applications

Use for continuous motion

Use

Anticipation

The position reading has a fixed dynamic of 32768. Programming the cams is done in this group of pulses.

Example: a 16 m belt with an encoder resolution of 0.5 mm.

Counter recalibration must be configured on the rising edge on Irec. The recalibration value can be adjusted with a value other than 0.

The length of the part can be measured using the capture functions.

l l

The application of events can be used, for example, to: set the processor cam to Run after recalibration (movement of parts).

set the cam processor to Stop on recalibration if processing of a part has not finished.

For high-speed machines, it is possible to correct the following very precisely: the actuator ascent time and the internal module processing time, if required.

A fine resolution and a large number of pulses per cycle, ensure precise anticipation.

For example: if the user wishes to anticipate the command of an actuator by 1ms, the encoder must be able to provide more than 5 pulses in that time.

TLX DS 57 PL7 xx

Types of applications

TLX DS 57 PL7 xx

Examples

At a glance

Subject of this chapter

What's in this chapter?

This chapter presents two examples of using the TSX CCY 1128 electronic cam module. The simple example shows the elementary programming required to actuate an output on detection of a cam. The advanced example implements several cams with generation of events when switching modulo and full counters with production recipe management. They will enable you to implement a cam module quickly.

This chapter contains the following Sections:

Section

3.1

3.2

Topic

Simple example

Advanced example

Page

TLX DS 57 PL7 xx

Examples

TLX DS 57 PL7 xx

Examples

3.1 Simple example

At a glance

Subject of this section

What's in this section?

This section deals with the following subjects:

This section contains the following topics:

Topic

Introduction to a simple example

Entering configuration parameters

Programming

Page

TLX DS 57 PL7 xx

Examples

Introduction to a simple example

Example This is the implementation of an output on detection of a cam. The axis used is a type 1 rotating axis.

Recalibration

The electronic cam is set between 200 and 500. It activates output 0 on track 0.

TLX DS 57 PL7 xx

Examples

Entering configuration parameters

Hardware configuration

The hardware configuration is as follows:

V3.3

2 3

Note: This is implemented using PL7 Junior or Pro software (software version > or

= 3.4) and the PL7 software enhancement patch.

Procedure The steps are as follows:

Step

Action l l

Select the TSX CCY 1128 module at its position n°3 in rack n°0.

Double-click on the module.

Result: the module hardware configuration screen appears:

TSX CCY 1128 V1.0 IE 22 [RACK 0 POSITION 3]

Configuration

Designation: MOD.ELEC CAM. 128 CAMS

Symbol:

Function:

Electronic cam

Acquisition

01 Cam processor

Connector0

Connector1

Task:

MAST

The drop-down list at the top should be in Configuration.

l Double-click with the left button on Acquisition in the browser

Select l l l l

For the Input interface: Incremental encoder.

For the Measurement Format: Type 1.

For the position Recalibration on Irec: Short cam

Enable with the toolbar button.

TLX DS 57 PL7 xx

Examples

Step

Action l l l l l l l l l l l l l l l l l l

Select Adjust Recipe from the drop-down list at the top of the screen.

Double-click with the left button on Acquisition in the Browser.

Enable with the toolbar button.

Configure 1024 for No. of pulses/cycle.

Select Configuration from the drop-down list at the top of the screen.

Confirm with yes.

Click with the right button on Connector 0.

Unlock.

Select Adjust Recipe from the drop-down list at the top of the screen.

Confirm with yes.

Double-click with the left button on Connector 0.

Double-click with the left button on Group 0.

Click with the right button on track 0.

Activate.

Click with the right button on track 0.

Create Cam ...

Select 0.

Confirm with OK.

l Double-click with the left button on cam 0.

Result: the adjustment parameters screen appears

Adjustment parameters: Cam processor . Connector0 . Group0 . Track0 . Cam0

Cam definition

Type: Position

Initial value: Position

Threshold X1:

Initial value:

200 pulses pulses Threshold X2:

Initial value:

Closing delay

Initial value:

500

*0.1 ms

Confirmation condition

Cam monitoring:

Initial value:

Confirmation bit number:

Initial value:

Conditioned by a confirmation bit

Activation condition

Forward direction

Reverse direction

Conditioned by a confirmation bit

Initial value

TLX DS 57 PL7 xx

Step

Action

Configure l l for ThresholdX1:200, and for ThresholdX2: 500

Select l for Cam monitoring (in the Enable conditions): Conditioned by an confirmation bit l for the Activation condition: Forward

Enable the configuration entered with the toolbar button.

Examples

TLX DS 57 PL7 xx

Examples

Programming

Introduction

Grafcet

The module calculates the position reading from an incremental encoder connected to its inputs. The module controls its outputs according to this position and on the transferred cam program which describes the recipe.

This program contains the minimum number of steps required to ensure that the cam function starts up correctly. For each step, it is sufficient to set the required commands to 1 to activate the output.

This illustration describes an example of Grafcet.

(* Start cycle *)

(* Initializing the module *)

(* Errors? *)

(* Recalibration request *)

(* Counter recalibrated? *)

(Switch to RUN mode*)

(* Cam processor running?*)

(* Cam confirmation *)

%X(0)->%X(1) (* start cycle?*)

%M0

TLX DS 57 PL7 xx

CHART %X1 P1

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

CHART %X2 P1

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

CHART %X3 P1

%X(3)->%X(4)

CHART %X4 P1

(* Initializing enable and assignment parameters *)

(* assigning track 0 to output 0 *)

%QW3.0.1:=16#0001;

(* Enabling group 0 outputs *)

SET %Q3.0.25;

(* Reset faults *)

SET %Q3.0.15;

(* fault? *)

NOT %I3.0.ERR

(* Enabling angle recalibration function *)

SET %Q3.0.0;

(* Counter recalibrated? *)

%I3.0.0

(* setting the cam processor to run *)

SET %Q3.0.5;

(* cam processor in RUN? *)

%I3.0.3

(* enabling cam *)

SET %QW3.0:X0;

Examples

TLX DS 57 PL7 xx

Examples

Variables used

Address

%M0

%I3.0.Err

%I3.0.0

%I3.0.3

%Q3.0.0

%Q3.0.5

%Q3.0.15

%Q3.0.25

%QW3.0.1

%QW3.0:X0

Symbol

Dcy

CH_ERROR

ANG_OK

PCAM_ON

PRESET_ANG_EN

ABLE

PCAM_START_ST

ACK_FLT

OUTS_ENABLE

Comments

Start cycle

Channel error bit

Valid Angle reading

Cam processor RUN/STOP

Enables (re)calibration function on angle value only

Set: Cam processor Start / Cam processor

Reset:Stop

Acknowledge present faults command

Global enabling of track outputs

GROUP0_AND_BIT

8 bits for assigning tracks to group outputs

GROUP0_OR_BITS enabling cam

TLX DS 57 PL7 xx

Examples

3.2 Advanced example

At a glance

Subject of this section

What's in this section?

This section deals with the following subjects:

This section contains the following topics:

Topic

Introduction to a detailed example

Operating mode

The Recipes

Entering configuration parameters

Programming

Special Features

Page

TLX DS 57 PL7 xx

Examples

Introduction to a detailed example

General An automatic device controls the filling and storage of boxes of medicine. During filling, each box is wedged into a mechanical stop. Once they have been filled, the boxes are stored in lots of 5. Each lot is then sent to the storage area.

Illustration of automatic device

Note: This example is given for information only and is not an exact representation of an industrial application.

TLX DS 57 PL7 xx

Cycle 1

Cycle 2

Cycle 3

Cycle 4

Description of the cycles

Examples

The machine is divided into 6 cycles of 1024 pulses: l l

5 filling cycles consisting of depositing the medicine into the box,

1 storage and grouping cycle.

The parts counter counts the parts to be grouped for entry to the storage area. If the storage area is full, grouping is transferred.

The application program manages the transient machine loading and unloading phases. During loading, the stations are activated one at a time according to the cycle number.

When the machine is fully loaded, all stations work in parallel during each cycle.

Filling the machine track 0 track 1 station 1 station 2 track 2 station 3 track 3 station 4 track 4 station 5 forward motion of the belt

Clearing track 5 station 6 track 6 station 7

Cycle 5

Cycle 6

5 times...

... parts counter increment

Grouping

Stations 1 to 5 are controlled by the outputs of tracks 0 to 4 and only have one output per cycle (1 cam). Track 5 performs operations on the indexer for station 6, track 6 performs operations on the grouping actuator at station 7.

TLX DS 57 PL7 xx

Examples

Operating mode

Start-up l l l l

Recalibration is performed before every start-up.

The machine is started gradually according to the arrival of the boxes.

The parts counter is incremented for every full box. When this counter equals 5, l l the collected batch is pushed towards the packaging area.

managing 2 types of stop: a controlled stop to empty the string of boxes in progress.

an immediate stop.

TLX DS 57 PL7 xx

Examples

The Recipes

At a glance Two recipes are managed. These recipes are stored in the following %MW words:

Recipe 1 %MW100 to %MW816

Recipe 2 %MW850 to %MW1566

Parameters for recipe 1

This table describes the parameters for recipe 1:

Track

Track 0

Track 1

Track 2

Cam

Cam 0

Cam 1

Cam 2

Positions position X1=800 X2=820 position X1=600 X2=620 position X1=400 X2=420

Direction

Forward

Track 3

Track 4

Track 5

Track 6

Cam 3

Cam 4

Cam 5

Cam 6 position X1=200 X2=220 position X1=0 X2=20 position X1=800 X2=900

Forward

Forward position X1=200 Tempo 100 ms Forward

The parts counter is incremented by track 5.

The parts counter is reset by track 6.

Enabling enable by bit:0 enable by bit:1 enable by bit:2 enable by bit:3 enable by bit:4 enable by bit:5 full counter

Parameters for recipe 2

This table describes the parameters for recipe 2:

Track

Track 0

Track 1

Track 2

Cam

Cam 0

Cam 1

Cam 2

Positions position X1=800 X2=900 position X1=600 X2=700 position X1=400 X2=500

Direction

Forward

Track 3

Track 4

Track 5

Track 6

Cam 3

Cam 4

Cam 5

Cam 6 position X1=200 X2=300 position X1=0 X2=100 position X1=800 X2=900

Forward

Forward position X1=200 Tempo 100 ms Forward

The parts counter is incremented by track 5.

The parts counter is reset by track 6.

Enabling enable by bit:0 enable by bit:1 enable by bit:2 enable by bit:3 enable by bit:4 enable by bit:5 full counter

TLX DS 57 PL7 xx

Examples

Entering configuration parameters

Hardware configuration

The hardware configuration is as follows:

V3.3

2 3

Note: This is implemented using PL7 Junior or Pro software (software version > or

= 3.4) and the PL7 software enhancement patch.

Procedure Entering the axis configuration and adjustment parameters is the same as for the simple example.

TLX DS 57 PL7 xx

Examples

Programming

Introduction

MAST-PRL

The module calculates the position reading from an incremental encoder connected to its inputs. The module controls its outputs according to this position and the transferred cam program which describes the recipe.

(* Initializing Grafcet *)

IF NOT %M0 THEN SET %S21;

END_IF;

(* immediate cycle stop *)

IF %M3 THEN SET %S21;RESET %Q3.0.5;%QW3.0:=0;RESET %M3;RESET

%M0;

END_IF;

(* Power outage management *)

IF %S1 THEN SET %S21;RESET %Q3.0.5;%QW3.0:=0;RESET %Q3.0.25;

END_IF;

(* Recipe management *)

(* saving recipe 1 in words %mw100 onwards *)

IF %M11 THEN TRF_RECIPE %CH3.0(1,100);RESET %M11

END_IF;

(* Saving recipe 2 in words %MW850 onwards *)

IF %M12 THEN TRF_RECIPE %CH3.0(1,850);RESET %M12;

END_IF;

(* Restoring recipe 1 from the %MW100 word *)

IF %M13 THEN TRF_RECIPE %CH3.0(0,100);RESET %M13;RESET

%Q3.0.5;

END_IF;

(* Restoring recipe 2 from the %mw850 word *)

IF %M14 THEN TRF_RECIPE %CH3.0(0,850);RESET %M14;RESET

%Q3.0.5;

END_IF;

(* restoring the recipe switches the Cam processor to STOP and so the command must be reset to zero *)

TLX DS 57 PL7 xx

Examples

Grafcet This illustration describes an example of Grafcet.

(* Start cycle *)

(* Initializing the module *)

(* Errors? *)

(* Recalibration request *)

(* Counter recalibrated? *)

(* Switch cam processor to RUN mode *)

(* Cam processor running*)

(* Machine running *)

%X(0)->%X(1)

CHART %X1 P1

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

(* start cycle? *)

%M0

(* Initializing enable and assignment parameters *)

(* assigning tracks to GRP outputs '7 tracks / 7 outputs' *)

%QW3.0.1:=16#007F;

(* Reset parts counter *)

SET %Q3.0.23;

(* Authorization to control group 0 outputs *)

SET %Q3.0.25;

(* Event authorization when switching to angle modulo *)

SET %Q3.0.8;

(* Fault acknowledgement during start-up phase *)

SET %Q3.0.15;

(* Fault? *)

NOT %I3.0.ERR;

TLX DS 57 PL7 xx

CHART %X2 P1

CHART %X2 P0

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

CHART %X3 P1

%X(3)->%X(4)

CHART %X4 P1

MAST-POST

(* Type 1 function therefore recalibrate angle *)

SET %Q3.0.0;

(* Reset recalibration *)

RESET %Q3.0.0;

(* Counter recalibrated? *)

%I3.0;

(*Setting the cam processor to run *)

SET %Q3.0.5;

(* Cam processor in RUN? *)

%I3.0.3;

(* Enabling parts counter *)

RESET %Q3.0.23;

SET %Q3.0.7;

(* Managing faults *)

IF %I3.0.ERR THEN SET %S21; END_IF;

(* Fault acknowledgement *)

IF %M1 THEN SET %Q3.0.15;RESET %M1;

ELSE RESET %Q3.0.15;END_IF;

(* Reading fault type *)

IF %M2 THEN READ_STS %CH3.0;RESET %M2;END_IF;

Examples

TLX DS 57 PL7 xx

Examples

EVENT-EVT1 (* Managing cycle modulo for starting *)

(* Detecting angle number modulos *)

IF %IW3.0.12:X0 AND %M0 THEN INC %MW0;END_IF;

(* Action on detection of cycle modulos, enabling cams *)

IF(%MW0=1)AND %M0 THEN SET %QW3.0:X1;END_IF;

IF(%MW0=2)AND %M0 THEN SET %QW3.0:X2;END_IF;

IF(%MW0=3)AND %M0 THEN SET %QW3.0:X3;END_IF;

IF(%MW0=4)AND %M0 THEN SET %QW3.0:X4;END_IF;

IF(%MW0=5)AND %M0 THEN SET %QW3.0:X5;END_IF;

IF(%MW0>6)AND %M0 THEN %MW0:=6;END_IF;

(* Managing cycle modulos for stopping *)

(* Detecting angle number modulos *)

IF %IW3.0.12:X0 AND NOT %M0 THEN DEC %MW0;END_IF;

(* Action on detection of cycle modulos, disabling cams *)

IF(%MW0=5)AND NOT %M0 THEN RESET %QW3.0:X0;END_IF;

IF(%MW0=4)AND NOT %M0 THEN RESET %QW3.0:X1;END_IF;

IF(%MW0=3)AND NOT %M0 THEN RESET %QW3.0:X2;END_IF;

IF(%MW0=2)AND NOT %M0 THEN RESET %QW3.0:X3;END_IF;

IF(%MW0=1)AND NOT %M0 THEN RESET %QW3.0:X4;END_IF;

IF(%MW0=0)AND NOT %M0 THEN RESET %QW3.0:X5;END_IF;

IF(%MW0<1)AND NOT %M0 THEN %MW0:=0;END_IF;

(* Managing event stack overflow on cam card *)

(* Detecting overflow *)

IF %IW3.0.12:X15 THEN SET %M15;END_IF;

TLX DS 57 PL7 xx

Variables used

Examples

Table

Address

%M0

%M1

%M2

%M3

%M5

%M11

%M12

Symbol

Dcy

ACK_DEF

READ_DEF

STOP_IMM

COMP_PLEIN

SAVE_RECIPE1

SAVE_RECIPE2

%M13

%M14

RESTORE_RECIPE1

RESTORE_RECIPE2

%M15

%MW0

%MW2

%I3.0.Err

%I3.0

%I3.0.3

%IW3.0

COMP_MODULO_ANG

COMP_COMP_PIECES

CH_ERROR

ANG_OK

PCAM_ON

GROUP0_STRACK

%IW3.0.12:X0 EVT_ANG

%IW3.0.12:X6 EVT_PIECES_FULL

Comment

Start cycle

Fault acknowledgement

Reading fault

Immediate stop of the machine

Saving Recipe 1

Saving Recipe 2

Restoring Recipe 1

Restoring Recipe 2

Detecting overflow

Evt. modulo counter

%IW3.0.12:X15

%Q3.0.0

%Q3.0.5

%Q3.0.7

%Q3.0.8

%Q3.0.14

%Q3.0.15

%Q3.0.23

%Q3.0.25

%QW3.0

%QW3.0.1

DIRECTION_EVT

PRESET_ANG_ENABLE

PCAM_START_STOP

Channel error bit

Valid angle reading

Cam processor RUN/STOP

Status of tracks i.0 to i.7

Switch to angle value modulo event

Switching to limit value for the parts counter event

Direction of movement on ANG_EVT or

TURN_EVT

Enables (re)calibration function on angle value only

Set: Cam processor start / Cam processor

Reset:Stop

PIECES_ENABLE

EVT_ANG_ENABLE

Enables the Parts counter function

Enables the ANG_EVT event source

EVT_PIECE_FULL_ENABLE Enables the PIECES_FULL_EVT event source

CAME_ACK_FLT

CAME_PIECES_RESET

Command to acknowledge present faults

Reset parts counter

CAME_ENAB_OUTS Global enabling of track outputs

GROUP0_ENABLE_BITS_0 8 enable bits associated with the group

GROUP0_AND_BITS_0 8 bits for assigning tracks to group outputs

TLX DS 57 PL7 xx

Examples

Special Features

Managing the box counter reset

%MW for the recipes

Saving the recipes

When the box counter is full, cam 6 is active.

In the example, the counter full reset is performed on activation of cam 6.

This function can only be used if the cam is a Monostable type.

Note: If the cam is not a monostable type it will set and reset immediately.

The parts counter can also be reset to zero by: l the application, but pay particular attention to any problems between tasks: Do not reset the counter before cam execution.

l by a dummy cam.

The recipes use 716 %MW words.

This zone must not be used by the system.

To be able to save the various recipes, use a paginated PCMCIA.

TLX DS 57 PL7 xx

Configuration of the electronic cam module

At a glance

Subject of this chapter

What's in this chapter?

This chapter describes the configuration operations for the TSX CCY 1128 electronic cam module.

This chapter contains the following topics:

Topic

Declaring the module in the PLC rack

Accessing the module configuration parameters

Configuring the electronic cam parameters

Configuring acquisition parameters

Configuring an incremental encoder

Configuration of an absolute encoder

Reading format configuration

Configuring the position recalibration function for incremental encoders

Capture function configuration

Cam processor configuration

Connector configuration

Confirmation of the configuration

Reconfiguration in connected mode

Page

TLX DS 57 PL7 xx

Configuration of the electronic cam module

Declaring the module in the PLC rack

Procedure This operation is used to declare the software equivalent of the electronic cam module in a TSX 57 PLC rack.

Step

Action l l

In the application browser, select and click on the Station and

Configuration folders one after the other.

Double-click on the Hardware configuration icon.

Application Browser

Structure View

STATION

Configuration

Hardware configuration

Software configuration

Program

MAST task

Events

DFB types

Variables

Animation tables

File

Operating screens

If the application browser is not displayed: l l click on the application browser icon or select the Tools

→

Application Browser command

Double-click on the slot in which the module is to be configured

Select the Counting family from the Family list, then the module reference from the Module list.

Adding a module

Family:

Analog 1.5

Communication 1.5

Counting

Remote BusX

Movement

Weighing

Modeling

All or Nothing

1.5

1.0

1.5

1.7

1.0

1.5

Module:

TSX CCY 1128 MOD.ELEC.CAM 128 CAMS

TSX CTY 2A COUNT.MOD. 2 CHANNELS 40KHZ

TSX CTY 2C COUNT.MEASURE.MOD 2

CHANNELS

TSX CTY 4A COUNT.MOD. 4 CHANNELS 40KHZ

Cancel

TLX DS 57 PL7 xx

Step

Configuration of the electronic cam module

Action

Click on OK,

Result:

The module is declared in its slot. The slot is grayed out and contains the module reference.

Configuration

TSX 57452 V3.3 … XMWI

XTI..

2 3 4 5

Configuration of the electronic cam module

Accessing the module configuration parameters

Role

Procedure

This operation is used to access the configuration parameters of the TSXCCY1128 module.

In connected mode, the parameters: task, event, masking faults, encoder and encoder configuration cannot be modified. Confirming any modification causes the cam function to stop (Cam processor in Stop mode).

The following table describes the operations to be performed:

Step

Action

Access the hardware configuration screen

Double-click on the slot of the module in the rack.

Result:

TSX CCY 1128 [RACK 0 POSITION 5]

Configuration

Designation: MOD.ELEC CAM. 128 CAMS

Symbol:

Function:

Electronic cam

Acquisition

01 Cam processor

Connector0

Connector1

Task:

MAST:

Select the task (MAST or FAST) in which the module language objects are updated in the PLC processor: Task pull-down menu.

In the Browser, double-click on the element to be configured.

l l l l

Electronic cam

Acquisition

Cam processor

Connector 0 or 1 after unlocking

TLX DS 57 PL7 xx

Configuration of the electronic cam module

Configuring the electronic cam parameters

Role

Procedure

This operation is used to: l l declare an event task associated to the module mask all or some of the application faults

The following table describes the operations to be performed:

Step

Action

In the browser, double-click on Electronic cam.

Result:

Configuration parameters:

Event

EVI 1

Errors

Masking

If an event task in the PLC processor must be assigned to the module: l l click in the EVT check box, select the number of the associated Event task, from 0 to 63 (0 being the priority task).

Masking a fault prevents the fault indication being taken into account in the general channel fault information. The associated check remains active, however, and affects the operating modes of the module.

To mask the faults: click on the Mask button.

Result:

Errors

Encoder supply fault

Auxiliary inputs supply fault

Track outputs supply fault

Masking

Confirm Cancel

Check the box(es) of the faults which are to be masked and confirm.

TLX DS 57 PL7 xx

Configuration of the electronic cam module

Configuring acquisition parameters

Role l l

Configuring acquisition parameters allows you to: select the type of encoder (incremental or absolute) and define its characteristics select the acquisition mode functions l l

Reading format

Recalibration l l

Capture

Unit of speed

Procedure

Step

The following table describes the operations to be performed:

Action

In the browser, double-click on Acquisition.

Result:

Configuration parameters: Acquisition

Input interface

Incremental encoder Configuration

Acquisition mode

Measurement format

Type:

Type 1

A cycle:

Synchro type:

Position recalibration on Irec:

Type:

Irec rising edge

8..15 bits

Machine

Application:

Captures:

Capt0 on the falling edge of Icapt 0 and Capt1 on the falling edge of Icapt 0

Unit of speed: in pulses/ms

Part detection

2 Select the field to be modified

TLX DS 57 PL7 xx

Configuration of the electronic cam module

Configuring an incremental encoder

Role

Procedure

Configuring an incremental encoder allows you to: l l declare that the inputs are connected to an incremental encoder, define the processing characteristics of the encoder signals.

The following table describes the operations to be performed:

Step

Action

Select Incremental encoder in the input Interface field in the Acquisition configuration screen.

Click on Configuration to display the following dialogue box:

Details of input interface

Input interface: INCREMENTAL ENCODER

Filtering:

125 kHz x 1 / 125 kHz x 4

Measurement inversion Line monitoring

Multiplication

By 1 By 4

Confirm Cancel

Select the counter input filtering according to the maximum frequency supplied by the encoder: l 125 kHz x1 / 125 kHz x4 enables good running for frequencies lower than

125 kHz in input (with or without multiplication by 4), l 500 kHz x1 / 250 kHz x4 corresponds to the module's limit values.

If necessary, check the Reading inversion function box.

This parameter defines the direction in which the measurement changes in relation to the direction of the encoder rotation.

If necessary, enable the Line check function.

This function indicates any electrical faults (line break or short-circuit) on the links with the RS422 encoder.

This function must not be used with an encoder with 10...30V Totem pole outputs.

Select multiplication by 1 or by 4.

Multiplication by 4 gives a resolution 4 times greater than the resolution of the encoder.

Click on OK to confirm the choices made.

TLX DS 57 PL7 xx

Configuration of the electronic cam module

Configuration of an absolute encoder

Role

Procedure

Configuring an absolute encoder enables you to: l declare that the inputs are connected to an absolute SSI encoder or to an absolute encoder with parallel outputs.

l define the characteristics of the encoder and the SSI frame

The following table describes the operations to be performed:

Step

Action

Select SSI absolute encoder or Parallel output absolute encoder in the

Input interface field on the Acquisition configuration screen.

Click on Configuration... to display the following dialogue box:

Details of input interface

Input interface:

Encoder

Binary

SSI frame

Period

Header

50us

No. of header bits:

Absolute SSI encoder

Gray code

SSI frequency

Measurement inversion

1 MBaud

Status

Line monitoring

No. of status bits: 0

Error bit Data

No. of encoder data bits: 8

Parity

Parity bits

Frame: x8x

Confirm Cancel

Select the type of coding used by the encoder: Binary or Gray code.

If necessary, check the Reading inversion function box.

This function modifies the value provided by the encoder in order to reverse the movement direction of the position.

TLX DS 57 PL7 xx

Step

Configuration of the electronic cam module

Action

Adjust the interrogation interval of the encoder according to the length of the frame and the length of the cable connecting the encoder. The module automatically determines the transmission frequency.

The diagram below can be used to select the optimum period; the value in brackets gives the transmission frequency determined by the module.

Frame length

Cable length

Configuration of the electronic cam module

Step

Action

For an SSI absolute encoder: l l l l l l l

Set the SSI frame characteristics used by the encoder: l number of insignificant bits on the frame header N mini = 0, N maxi = 4 (0 is the default) number of encoder data bits: N min. = 8, N max. = 25, (8 is the default) number of status bits N maxi = 3 (0 is the default), number of bits sent after the last data bit excluding the parity bit, presence or absence of the error bit (if the status field is not zero), setting of the error bit (Rank from 1 to 3) in the status bits zone, logical level of the error bit (active at 0 or active at 1), presence of the parity bit (by default it is absent) and the type of parity:

Even or Odd (odd parity is not checked by the module).

Note: Number of header + data + status bits < or = 32

As the selections are made, the frame zone displays the elements of the frame.

Example: Frame: xxxx x8x xxE P xxxx = 4 header bits (one cross per header bit) x8x = 8 data bits xxE = 3 status bits, one of which is an error bit positioned at rank 1

P = presence of parity bit, parity type: Even.

For a parallel output absolute encoder:

Set the characteristics of the SSI frame used by the encoder bearing in mind that the following values are set as standard: l l l l l number of insignificant frame header bits: 0 number of encoder data bits: 24 number of status bits: 3 rank of error bit: 3 if error bit present presence of the parity bit and type of Even parity

Click on Confirm to confirm the choices made.

TLX DS 57 PL7 xx

Configuration of the electronic cam module

Reading format configuration

Role of the parameter

Parameter selection

This parameter defines the format for the axis position reading, calculated by the module.

The format is chosen according to the type of movement.

The following table can be used to select the format type (1, 2 or 3) depending on the type of application.

Type 1 Type 2 Type 3

Type of movement rotary and alternating

Position reading angular cyclic continuous

Format

Synchro

8..15 bits (cycle) for incremental

8..14 bits for absolute machine

Type of encoder incremental or absolute angular

+ number of turns counting the number of pulses

8..15 bits (cycle) for incremental

8..14 bits for absolute

1..15 bits (turn)

15 bits (cycle) ie. 32768 pulses machine incremental or absolute parts detection incremental

The choice is made via a pull-down menu. The other fields are for information only.

TLX DS 57 PL7 xx

Configuration of the electronic cam module

Configuring the position recalibration function for incremental encoders

Role of recalibration

Procedure

For a synchro...

Part

This is the module function which is used to calibrate the axis in relation to the machine zero or to synchronize the axis in relation to the entry of a part.

Recalibration forces the position reading to a value which is predefined by the

"recalibration value" parameter (within the pulse field of the cycle).

This function is used to compensate for any possible slip in the reading. It is applied to the incremental encoders. Each time the moving part passes in front of the detector (wired to the Irec recalibration input), the reading is recalibrated.

The configuration operation of the recalibration function consists of defining the type of signal detected on the Irec recalibration input.

The type of recalibration is selected using a pull-down menu:

If you want recalibration on detection… then select...

l of a rising edge on the module Irec input Irec rising edge

Machine without turn pulse marker l l of a rising edge in forward movement of a falling edge in reverse movement on the module Irec input.

Rising edge +direction, falling edge -direction

Machine with turn pulse marker l l of a rising edge in forward movement of a falling edge in reverse movement on the Zero Pulse Marker input when the

Irec input is at 1.

short Cam

Zero

Irec

TLX DS 57 PL7 xx

Configuration of the electronic cam module

Capture function configuration

Role of the capture function

This function is used to sample the value of the position of the axis on detection of an event. The capture function has no impact on the axis values, nor on the cam processor.

Implementing this function enables the application to manage the process better, for example control of: the number of pulses sent by the encoder, the size of the parts, the slip of the axis, the entry angle of the parts.

l l

The module has:

2 physical capture inputs Icapt0 and Icapt1,

4 register words that can be accessed via the sequential program: l 0 Registers: always store the actual position value of the angle (CAPT0_ANG) and the number of turns (CAPT0_TURN). The capture function always operates on detection of a rising input front Icapt0.

l 1 Registers: the values captured in these registers (CAPT1_ANG and

CAPT1_TURN) depend on the type of capture requested (see table below).

Procedure The type of capture is chosen via a pull-down menu (only the first 2 choices can be accessed for an absolute encoder):

If you require capture on detection of a rising edge on the Icapt0 input

(for 0 registers) and ...

a falling edge on the Icapt0 input (for 1 registers)

(E.g.: measure the size of the parts, in comparison with 0 registers) a rising edge on the Icapt1 input (for 1 registers)

(E.g.: measure the entry angle of the parts) storage of the number of pulses in the 1 registers on each encoder turn (E.g.: to check the encoder link) capturing the value of the angle before recalibration in the 1 registers

(E.g.: to evaluate the deviation due to the slip and corrected by the recalibration) then select...

Capt1 on falling edge of Icapt0.

Capt1 on rising edge of Icapt1.

Capt1 = Number of pulses per encoder turn.

Capt1 before recalibration.

of a rising edge on zero pulse marker input (for 1 registers)

(E.g.: to evaluate the deviation due to the slip, without recalibrating the axis)

Capt1 on rising edge of zero marker

TLX DS 57 PL7 xx

Configuration of the electronic cam module

Cam processor configuration

Role

Procedure

This operation defines the cam processor performance and the module outputs on a fault.

The following table describes the operations to be performed:

Step

Action

In the browser, double click on Cam processor.

Result:

Configuration parameters: Cam processor

Reactivation of track outputs

Manual

Automatic

On faults in …

... communication

Stand-alone processor

Retention of direct commands

... short-circuit

Ignored by the processor

Select the type of output reactivation: Manual or Automatic.

When an overcurrent is detected on an output, it is tripped, and it can be reactivated: l l

Manually: it can be done from the debugging screen or via the application.

Automatically: performed automatically, 10 seconds after tripping.

Select the performance of the cam processor module on a communication fault between the PLC processor and the electronic cam module, see table below.

Select the behavior of the cam processor on a short-circuit fault: l box not checked or default selection: the cam processor is stopped if an output becomes faulty.

l ignored by the processor: tripping one of the track outputs does not stop the cam processor.

TLX DS 57 PL7 xx

Performance of the module on a communication fault

Configuration of the electronic cam module

The performance of the module on a communication fault between the PLC processor and the electronic cam module is summarized in the following table:

Check boxes selected

Cam processor status

None

Retention of direct commands change to stop

Stand-alone processor normal operation,

(remains in RUN) change to stop

Stand-alone processor and Retention of direct commands normal operation,

(remains in RUN)

State of the logic outputs set to 0 set to 0 equal to the last direct commands transmitted by the PLC processor; or logic between: l the status of the associated tracks (or the reverse if an inversion is l requested in the adjustment parameter) the last direct commands transmitted by the PLC processor

The actual state of a physical output is equal to the logic state of the output, or its reverse if inversion has been requested in the connector configuration.

TLX DS 57 PL7 xx

Configuration of the electronic cam module

Connector configuration

Role

Procedure

The logic state of the tracks is assigned to the physical outputs of the module.

l l

The configuration of the connectors enables the inverse state to be electrically applied to an output:

24 V for a 0 state,

0 V for a 1 state.

The following table describes the operations to be performed:

Step

Action

In the browser, click with the right mouse button on Connector 0 or 1 and select unlock.

Result: the cross above the connector icon disappears.

In the browser, double click on Connector 0 or 1.

Result:

Configuration parameters: Cam processor. Connector0

Inversion of outputs

Group0

0 1 2 3 4 5 6 7

Group1

0 1 2 3

3 Check the boxes of the outputs to be inverted

TLX DS 57 PL7 xx

Configuration of the electronic cam module

Confirmation of the configuration

Procedure When all the configuration parameters are entered, confirm the configuration obtained using the Edit/Enable command or click on the confirmation icon.

If one or more parameter values are outside the permitted limits, an error message appears indicating the parameter concerned. Correct the parameter then confirm.

Note: Incorrect parameters are displayed in red.

Important l Recipe adjustment parameters are initialized on the first request to confirm the configuration. It is therefore possible that, following modifications of the configuration values, the recipe adjustment parameters will no longer be correct.

In this case a message specifies the parameter affected:

Confirm

Incremental encoder

The angle recalibration value must be < = no. of pulses /cycle

OK l l l

Access the recipe adjustment parameters screen, correct the parameter, then confirm.

The configuration parameters are actually acknowledged: when each of the configuration and adjustment parameters is correct, when they are confirmed in the main screen of the configuration editor.

TLX DS 57 PL7 xx

Configuration of the electronic cam module

Reconfiguration in connected mode

Procedure When all the configuration parameters are modified, confirm these parameters using the Edit/Confirm command or click on the confirmation icon.

Only the parameters that are not grayed out can be modified in connected, the other parameters, (task, event, masking faults, encoder and encoder configuration) must be modified in local mode.

Confirm

Recipe adjustment will lead to the cam processor stopping. Only adjustment allows the confirmation of parameters without the cam processor stopping.

Do you want to continue?

Yes No

Illustration

Any reconfiguration in connected mode causes the cam processor to stop its operations.

The following diagram describes the reconfiguration process.

Configuration screen PLC processor TSX CCY 1128 module

Configuration parameters

Recipe adjustment parameters

(current)

Configuration parameters

Recipe adjustment parameters

(current)

Recipe adjustment parameters

(initial)

Configuration parameters

Recipe adjustment parameters

(current)

TLX DS 57 PL7 xx

Entering recipe adjustment parameters for the electronic cam module

At a glance

Subject of this chapter

What's in this chapter?

This chapter describes the operations for entering the recipe adjustment parameters for the TSX CCY 1128 electronic cam module.

This chapter contains the following topics:

Topic

Accessing the recipe adjustment parameters for the module

Entering acquisition parameters for an incremental encoder

Entering the acquisition parameters for an absolute encoder

Parametering for the parts counter

Activating/deactivating the tracks

Parametering for the tracks

Creating cams

Parametering the cams

Cam in position

Monostable cam

Breaking cam

Parametering the confirmation condition associated with a cam

Confirming the recipe adjustment parameters

Saving the recipe adjustment parameters

Restoring the recipe adjustment parameters

100

101

Page

TLX DS 57 PL7 xx

Entering recipe adjustment parameters

Accessing the recipe adjustment parameters for the module

Role This operation is used to access the recipe adjustment parameters for the TSX CCY

1128 module.

The Adjust Recipe mode provides access to all the recipe parameters.

Confirming modifications in connected mode causes the cam function to stop (Cam processor in Stop). Adjust mode can be used to access certain parameters (values in blue in the associated fields) without stopping the cam processor.

Note: The values are refreshed only when the window is opened.

Preliminary conditions

Procedure

The TSX CCY 1128 module must already be configured.

The following table describes the operations to be performed:

Step

Action

Access the module configuration screen.

Select Recipe Adjustment from the drop-down list at the top left of the configuration screen.

TSX CCY 1128 [RACK 0 POSITION 3]

Adjusting the Recipe

Configuration

Adjusting the Recipe

EC. 128 CAMS

Confirm the configuration entered if the confirmation request dialog box is displayed.

In the browser, click on the recipe element to be entered: l l l

Acquisition

Parts counter

Connector 0 or 1

TLX DS 57 PL7 xx

Entering recipe adjustment parameters

Entering acquisition parameters for an incremental encoder

Role

Preliminary conditions

Procedure

This operation defines the recipe adjustment parameters linked with the incremental encoder.

This operation requires an incremental encoder to have been defined during configuration.

The following table describes the operations to be performed:

Step

Action

In the browser, double-click on Acquisition.

Result:

Adjustment parameters: Acquisition

Axis

No. of pulses/cycle:

Initial value

No. of cycle:

Initial value 1

256

Axis play value:

Initial value 0

0 pulses

Recalibration

Value of the angle:

Initial value: 0

Value of no. of cycles: 0

Initial value: 0 pulses

2 Enter the Axis parameters. The parameters that are displayed depend on the reading format chosen in the configuration: l Type 1: number of pulses per cycle (minimum value 256 and maximum value 32767).

l Type 2: number of pulses per cycle (minimum value 256 and maximum value 32767) and number of cycles (minimum value 1 and maximum value l

32767)

Type 3: number of pulses per cycle = 32 767. The value that is displayed cannot be modified. It indicates the counting capacity.

TLX DS 57 PL7 xx

Entering recipe adjustment parameters

Step

Action

Enter the axis play value.

This value is used to compensate for the position error caused by changing the direction of rotation, if there is mechanical play between the drive and the axis

(encoder).

If recalibration of the axis is done in the direction of rotation: l forward, declare a negative correction value. The correction will be made on reverse movements, l reverse, declare a positive correction value. The correction will be made on forward movements.

A value of 0 corresponds to no correction.

The values are between -(No. of pulses/cycle) /2 and +(No. of pulses/cycle) /2.

The correction value cannot exceed 1023 pulses.

Note: this correction modifies the switching position of all the cams according to the declared value. Whatever the value of the play entered, the position and captures values sent to the PLC are current values (no corrections).

Enter the recalibration value: l l value of the angle, value of the number of cycles (for type 2 reading format only).

The recalibration value is loaded in the position counter on the recalibration command.

The values are between 0 and + No. of pulses/cycle

TLX DS 57 PL7 xx

Entering recipe adjustment parameters

Entering the acquisition parameters for an absolute encoder

Role This operation allows you to define an absolute encoder’s recipe adjustment parameters .

This operation requires that an absolute encoder has already been configured.

Preliminary conditions

Procedure

TLX DS 57 PL7 xx

The following table describes the operations to be performed:

Step

Action

In the browser, double-click on Acquisition.

Result:

Adjustment parameters: Acquisition

Axis

No. of pulses/cycle:

Initial value

No. of cycle:

Initial value

256

Axis play value:

Initial value 0

0 pulses

Absolute encoder

Offset encoder on angle value:

Initial value:

Offset encoder on value of number of cycles:

Initial value:

Reduction factor:

Initial value: 1

Recalibration

Value of the angle:

Initial value: 0

Value of no. of cycles: 0

Initial value: 0 pulses

3 pulses

Enter the Axis parameters. The parameters that are displayed depend on the reading format chosen in the configuration: l l

Type 1: number of pulses per cycle.

Type 2: number of pulses per cycle and number of cycles.

Note:

Choose a value to the power of 2, for the number of pulses per cycle.

Min. value: number of pulses per cycle = 256 and number of cycles = 1

Max. value: 2

(see the formula in step 5 of the table).

Enter the encoder offset value (angle and cycle) to obtain a position value equal to 0 when the axis arrives at the machine 0.

This value is the gross value provided by the encoder when the axis is on the machine 0.

The values consist of: l l

0 to No of pulses/cycle for the encoder offset on the angle,

0 to No of cycles for the encoder offset on number of cycles.

Entering recipe adjustment parameters

Step

Action

Enter the axis play value.

This value is used to compensate for the position error caused by changing the direction of rotation, if there is mechanical play between the drive and the

(encoder) axis.

l forward, declare a negative correction value. The correction will be made on reverse movements, l reverse, declare a positive correction value. The correction will be made on forward movements.

A value of 0 corresponds to no correction.

The values are between -(No of pulses/cycle) /2 and +(No of pulses/cycle) /2.

The correction value cannot exceed 1023 pulses.

Note: this correction modifies the switching position of all the cams according to the declared value. Whatever the value of the backlash entered, the position and captures values sent to the PLC are current values (no corrections).

Enter the reduction factor.

This factor reduces the encoder resolution. The position given by the encoder is divided by the reduction factor.

This enables the cam program to be effective over a narrower range of pulses than that given by the machine.

Possible reduction factor values:

1 (the cam program reacts in relation to the actual position of the encoder, no reduction),

2 (the position given by the encoder is divided by 2

4, 8, 16 or 32.

In addition the following relationship must be checked:

2 no of data bits > no of pulses/cycles x no of cycles x reduction factor (number of pulses less than or equal to 2

)

Enter the recalibration value (angle and cycle).

This recalibration value is systematically added to the position value after correction of the encoder offset. It moves the axis in relation to the machine reference point.

The values consist of: l l

0 to No of pulses/cycles for the recalibration on the angle,

0 to No of cycles for recalibration on the number of cycles.

Note:

The position value (angle and cycle) after offset correction and recalibration application is:

Position value = Gross encoder value - Offset + Recalibration

TLX DS 57 PL7 xx

Entering recipe adjustment parameters

Parametering for the parts counter

Role

Procedure l l

The parts counter is used to: indicate the number of parts processed, confirm the action of a cam when a certain number of parts (limit value) has been completed.

This operation is used to set the limit value of the parts counter.

The parts counter is incremented, decremented or reset to 0 when changing to 1 on a track according to the cam program.

The following table describes the operations to be performed:

Step

Action

In the browser, double-click on Parts counter.

Result

Adjustment parameters: Cam processor. Parts counter

Parts counter

Threshold:

Initial value:

2 Enter the limit value for the parts counter (value from 1 to 32767)

TLX DS 57 PL7 xx

Entering recipe adjustment parameters

Activating/deactivating the tracks

Role

Preliminary conditions

Procedure

The activation operation defines the tracks to be used.

Deactivation frees the unused tracks. The cams associated with these tracks are then destroyed and can be reused for the other tracks in the same group.

The connectors that these tracks are associated to must first be unlocked (in

Configuration mode).

The following table describes the operations to be performed:

Step

Action

In the browser double click on Connector 0 or 1 then double click in the browser on Group 0, 1, 2 or 3 to access the track(s) to be activated.

Result:

The browser displays all the tracks that are associated with this connector and this group. Tracks that are crossed out are inactive.

Click with the right mouse button on the track to be activated and select the

Activate command (Deactivate for the reverse operation).

The cross disappears from the activated track.

Example: track 0 of connector 0 group 0 is active and tracks 1 to 7 are inactive.

Electronic cam

Acquisition

Cam processor

Parts counter

Connector0

Group0

Track0

Track1

Track2

Track3

Track4

Track5

Track6

Track7

Group1

Connector1

TLX DS 57 PL7 xx

Entering recipe adjustment parameters

Parametering for the tracks

Role

Preliminary conditions

Procedure

This operation is used to define the tracks parameters.

These tracks must first be activated.

The following table describes the operations to be performed:

Step

Action

Double-click on the track to be parameterized.

Result:

Adjustment parameters: Cam processor. Connector0. Group1. Track1

The virtual track number 5 can be attached to this track.

Auxiliary functions

Anticipation factor: 0 * 50µ s

Action on the parts counter

Initial value: 0

Forward: N.S

EVT Track

Initial value

Initial value: N.S

Application inverts on output

Initial value

Reverse:

Initial value:

N.S

Parallel track

Initial value

2 Enter the value of the anticipation factor from 0 to 32767 x 50 micro s.

This factor makes it possible to anticipate all switches of track in order to compensate for the delay caused by the actuators of the machine.

Example: anticipation with a factor of 200

Without anticipation

With anticpation

Select EVT Track to trigger an event at each change of track.

TLX DS 57 PL7 xx

Entering recipe adjustment parameters

Step

Action

Check Invert application on output to invert the status of the track when the cam processor is in "Run" mode.

This inversion has no effect when the processor is in "Stop". The track remains at 0.

If the track does not have a cam, this function does not apply.

If the track is to perform operations on the parts counter, select the following types of action: l l l

No action

Inc: increments the parts counter each time a cam on the track changes to 1

Dec: decrements the parts counter each time a cam on the track changes to 1 l Reset: resets the parts counter to zero each time a cam on the track changes to 1 in Forward and/or Reverse direction.

Check Parallel track to put a second predefined track (track n+4) from the same group in parallel on the output of track n.

This option allows you to: l l associate tracks 4 to 7 with the outputs of tracks 0 to 3 in the same group.

have 2 tracks with different characteristics (different anticipation factor depending on the direction of movement) on a single output.

If the track does not have a cam, this function does not apply.

Example: if the option is selected on track 1, the value of output 1 will be the

"OR logic" of tracks 1 and 5.

Track 1

Output 1

Track 5

Note: This choice only appears on tracks 0 to 3 of each group.

Output 5

TLX DS 57 PL7 xx

Entering recipe adjustment parameters

Creating cams

Role

Preliminary conditions

Procedure

This operation associates one (or more) cams to one track.

It is possible to associate up to 32 cams with one track.

The tracks that you wish to associate the cams to must first be activated (in

Configuration mode).

The following table describes the operations to be performed:

Step

Action

In the browser, click with the right mouse button on the track concerned, and select the Create cam command…

In the dialog box select the number of the cam (0 to 31) and confirm.

The number of a cam already being used in the group cannot be entered.

Result:

The browser displays the cam that has been created under the track to which it belongs.

Example: creation of cam 5 under track 3 of group 1 of connector 0

Connector0

Group0

Group1

Track0

Track1

Track2

Track3

Cam5 P(0, 0, 0)

Track4

Track5

Track6

Track7

TLX DS 57 PL7 xx

Entering recipe adjustment parameters

Parametering the cams

Role

Preliminary conditions

Procedure

This operation allows you to define the cam adjustment parameters.

These cams must first be created.

The following table describes the operations to be performed:

Step

Action

Double-click on the cam to be parameterized.

Result

Adjustment parameters: Cam processor. Connector0. Group0. Track0. Cam0

Confirmation condition Cam definition

Type: Position

Initial value: Position

ThresholdX1:

Initial value:

0 pulses

Cam monitoring:

Initial value:

Cam still operative

Confirmation bit number:

Initial value:

ThresholdX2:

Initial value:

Closing delay

Initial value:

0 pulses

*0.1 ms

Activation condition

Forward direction

Reverse direction

Initial value

2 Enter the value of each parameter: l l l l type of came: Position, Monostable or Braking, values of associated thresholds, and time delay (for the Monostable cam), cam confirmation condition with the confirmation bit number, direction for which the cam is active.

TLX DS 57 PL7 xx

Entering recipe adjustment parameters

Cam in position

Role A Position type cam is at state 1 when the position of the axis is between the 2 thresholds. The 2 thresholds, low threshold X1 and high threshold X2 must be defined (X1 and X2 both between 0 and the number of pulses/cycles). X1 can be greater than the value of X2. The cam is then active between two cycles.

One type of activation from the 3 suggested: forward/reverse, forward and reverse, must be selected.

Note: The confirmation condition must be at state 1 for the cam to be able to change to state 1.

Operation of a cam which is active in forward and reverse directions

This table describes the performance of a cam that is active in forward and reverse directions.

Description

If the movement is forward, the cam changes to

1 when threshold X1 is crossed and returns to 0 when threshold X2 is crossed.

Illustration

Avant

If the movement is reversed, the cam changes to

1 when threshold X2 is crossed and returns to 0 when threshold X1 is crossed.

If the movement is: l forward (without crossing threshold X2), the cam changes to 1 when threshold X1 is l crossed.

then reverse, the cam returns to 0 when threshold X1 is crossed

If the movement is: l reverse (without crossing threshold X1), the cam changes to 1 when threshold X2 is crossed l then forward, the cam returns to 0 when threshold X2 is crossed

Arrière

TLX DS 57 PL7 xx

Entering recipe adjustment parameters

Operation of a cam which is active in the forward direction

This table describes the performance of a cam that is active in the forward direction.

Description

If the movement is forward, the cam changes to

1 when threshold X1 is crossed and returns to 0 when threshold X2 is crossed

If the movement is reverse, the cam remains at 0.

Illustration

Arrière

Avant

If the movement is: l forward (without crossing threshold X2), the cam changes to 1 when threshold X1 is crossed l then reverse, the cam returns to 0 as soon as the direction of movement changes.

If the movement is: l l reverse, the cam remains at 0 then forward, the cam returns to 1 when threshold X2 is crossed.

TLX DS 57 PL7 xx

Entering recipe adjustment parameters

Operation of a cam that is active in the reverse direction

This table describes the performance of a cam that is active in the reverse directions.

Illustration Description

If the movement is forward, the cam remains at 0.

Avant

If the movement is reverse, the cam changes to

1 when threshold X2 is crossed and returns to 0 when threshold X1 is crossed

If the movement is: l l forward, the cam remains at 0 then reverse, the cam returns to 1 until threshold X1 is crossed.

Arrière

If the movement is: l reverse, the cam changes to 1 when threshold X2 is crossed l then forward, the cam returns to 0 as soon as the direction of movement changes.

Conditions for angle 0

Threshold X1 can have a value greater than X2 if the cam is active either side of l l value 0, between:

X1 and 0

0 and X2

TLX DS 57 PL7 xx

Entering recipe adjustment parameters

Monostable cam

Definition l l

A Monostable type cam is one that changes to 1 when a threshold is crossed and returns to 0 after a time delay.

It is characterized by: l a value of threshold X1 expressed in a number of pulses (X1 is between 0 and the number of pulses/cycles)

An M1 time delay expressed in 1/10 ms (0 to 16383, i.e. 1.6383 s max.)

An activation type: forward/reverse, forward or reverse.

Note: l The confirmation condition must be at state 1 for the time delay to be set when l the threshold is crossed. If the confirmation condition changes to 0, the time delay in progress ends normally.

If the time delay is in progress at a new crossing of threshold X1, the time delay is reset with the setpoint value. The output remains at 1.

Operation

Activation type

Forward and reverse

Description

The monostable is set or reset in both directions.

Illustration

Forward The monostable is only set in forward movement.

Reverse The monostable is only set in reverse.

TLX DS 57 PL7 xx

Entering recipe adjustment parameters

Breaking cam

Definition A Braking type cam is one that changes to 1 when a threshold is crossed and returns to 0 when the same threshold is crossed in the opposite direction.

It is characterized by: l a forward threshold value X1 (value of the angle which sets the brake when the threshold is crossed in the forward direction) l a reverse threshold value X2 (value of the angle which sets the brake when the threshold is crossed in the reverse direction) l an activation type: forward/reverse, forward or reverse activation type.

Threshold X1 can be greater than X2 (it is thus possible to set the brake cam either in the cycle or between 2 cycles).

Note: The confirmation condition must be at state 1 so that the cam changes to 1 when the threshold is crossed. If the confirmation condition changes to 0, the brake is engaged.

Operation

Activation type

Forward

This table describes the performance of a braking cam.

Illustration Description

The brake is activated when threshold X1 is crossed in the forward direction.

The brake is deactivated when threshold X1 is crossed in the reverse direction.

Reverse

Forward and reverse

The brake is activated when threshold X2 is crossed in the reverse direction.

The brake is deactivated when threshold X2 is crossed in the forward direction.

The brake is activated when: l Threshold X1 is crossed in the forward direction.

l Threshold X2 is crossed in the reverse direction.

The brake is deactivated when these thresholds are crossed in the opposite direction

TLX DS 57 PL7 xx

Entering recipe adjustment parameters

Parametering the confirmation condition associated with a cam

Role This is used to associate a confirmation condition with a cam, using a confirmation bit or via the parts counter.

Confirmation bit A group has 8 control bits that are contained in the words GROUPI_ENABLE_BITS

(where i = group no. 0 to 3) and can be accessed by the PLC program. When a l l confirmation bit is associated with a cam, if this bit is at:

1, the cam is enabled,

0, the logic state of the cam remains at 0 whatever the angular position.

l l

Examples of use: integrating the cams in one group by assigning them the same confirmation bit.

managing the operating modes

Parts counter The cam can also be controlled by the state of the parts counter. The cam is only enabled when the parts counter reaches the limit value.

Procedure The following table describes the operations to be performed:

Step

Action

Access the recipe screen for the cam that is to be parameterized.

Select the confirmation type in the Confirmation condition box: l l

Cam still enabled: no condition is assigned, and the cam is still enabled.

Conditioned by an confirmation bit: a bit is associated with the cam: choose the bit number (from 0 to 7) in the Confirm bit number field, l

Example: if bit 5 is chosen for a cam in group 0, it is the

GROUP0_ENABLE_BITS:X5 bit which enables the cam when it is at 1.

When the parts counter is full.

TLX DS 57 PL7 xx

Entering recipe adjustment parameters

Confirming the recipe adjustment parameters

Procedure When recipe adjustment parameters are entered, confirm these parameters using the Edit/Confirm command or click on the confirmation icon.

If one or more parameter values are outside the permitted limits, an error message appears indicating the parameter concerned.

Correct the faulty parameter or parameters then confirm.

In connected mode:

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

PLC processor TSX CCY 1128

Configuration screen recipe adjustment mode

Current adjustment parameters

Initial adjustment parameters

WARNING

On a cold restart the current parameters are replaced by the initial parameters.

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

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

TLX DS 57 PL7 xx

Entering recipe adjustment parameters

Saving the recipe adjustment parameters

Procedure To save the current parameters (updating the initial parameters) select the

Services/Save Parameters command.

PLC processor TSX CCY 1128

Save parameters

Configuration screen recipe adjustment mode

Current adjustment parameters

Initial adjustment parameters

Note: The SAVE_PARAM%CHXY.0 instruction enables the application to perform this save operation.

100

TLX DS 57 PL7 xx

Entering recipe adjustment parameters

Restoring the recipe adjustment parameters

Procedure The Services/Restore parameters command replaces the current parameters with the initial values.

This operation causes the cam processor to stop.

PLC processor TSX CCY 1128

Configuration screen recipe adjustment mode

Current adjustment parameters

Restore the parameters

Actual adjustment parameters

Initial adjustment parameters

Note: l The RESTORE_PARAM %CHXY.0 instruction enables the application to perform this restoration operation.

l This operation is also performed automatically on a cold restart.

TLX DS 57 PL7 xx

101

Entering recipe adjustment parameters

102

TLX DS 57 PL7 xx

Debugging and adjusting

At a glance

Subject of this chapter

What's in this chapter?

This chapter describes the electronic cam module various adjust and debug screens.

This chapter contains the following topics:

Topic

Description of the debugging screen

Description of the status zones

Description of the main debugging zone

Description of the debugging zone: "Acquisition"

Description of the debugging zone: "Parts counter"

Description of the debugging zone: "Group x"

Description of the adjustment screen

Description of the adjustment zone

Page

TLX DS 57 PL7 xx

103

Debugging and adjusting

Description of the debugging screen

Accessing the debugging screen

On the screen corresponding to the module, the pull-down menu can be used to select the debugging mode when the PLC is connected.

TSX CCY 1128 [RACK 0 POSITION 3]

Adjusting the Recipe

Configuration

Adjusting the Recipe

Adjustment

Debugging

EC. 128 CAMS

Debugging screen

This screen is used to find out: l l l the module status, by displaying the various errors which may have arisen the present status of the application-specific function, forcing the track commands, performing recalibrations, setting the module to

RUN or to STOP, and confirming or locking the track action on the outputs.

l the status of the cam processors, locking the outputs,

It can be used to reactivate protected outputs and acknowledge errors.

104

TLX DS 57 PL7 xx

Debugging and adjusting

Description This screen is made up of 5 parts:

TSX CCY 1128 V1.0 IE 15 [RACK 0 POSITION 5]

Debugging

Designation: 2 CH.COUNTER.MEASUREMENT Version: 1.0

RUN ERR IO

Symbol:

Function:

Electronic cam

Task:

MAST

CH0

Electronic cam

Acquisition

Cam processor

Parts counter

Connector0

Connector1

Debugging: Cam processor Parts counter

Counter

Reset counter:

Confirmation:

Maximum value:

Current value:

DIAG...

Axis:

Angle: 0

Movement direction: pulses No. of cycles: 0

Reset connector 0:

Speed:

Reset connector 1:

Recalib pulses/

Parts counter

Full:

Cam processor

ON: Run cam pgm: Confirm track outputs: Fault acknowledgement:

This table describes the different parts:

Address Description

1 Module status zone.

Channel status zone.

Debugging zone for the selected function.

Browser zone: used to select a function.

Main debugging zone: used to access the main objects

TLX DS 57 PL7 xx

105

Debugging and adjusting

Description of the status zones

Module status zone

Channel status zone

This section is a reminder of the type of module corresponding to the screen. The three lights are the same as those on the front panel of the module. In normal operation, the DIAG button is grayed out. If there is an error, it turns red.

Clicking on the button opens a window where a message indicates the type of error detected.

Designation: 2 CH.COUNTER.MEASUREMENT Version: 1.0

RUN ERR IO DIAG...

The errors detected can be: faulty self-tests, module missing, module different from the one configured, or communication error…

This section indicates the module application-specific function, the task in which exchanges between the PLC processor and the module are processed, as well as the channel number. In normal operation, the DIAG button is grayed out. If there is an error, it turns red.

Clicking on the button opens a window where a message indicates the type of fault detected.

Symbol:

Function:

Electronic cam

Task:

MAST

CH0 DIAG...

Faults can be one of four types: l Configuration error: axis consistency error. This is indicated by the error codes.

track consistency error. The number of the track concerned and the error code l are indicated, cam consistency error. The number of the cam concerned and the error code are indicated,

Input/output error: l error on the encoder: supply error, line error, SSI transmission error, encoder alarm error, auxiliary I/O error: on supply

Error on track outputs: l supply or trip error. The location of the connector is indicated.

Processing error: modification command refused.

106

TLX DS 57 PL7 xx

Debugging and adjusting

Description of the main debugging zone

At a glance This zone is permanent in the debugging screen. It is used to display the main functions of the axis, and the current status of the cam processor.

Axis:

Angle: 0 pulses

Movement direction:

No. of cycles: 0

Reset connector 0:

Speed: 0

Recalibrated

Reset connector 1: pulses/

Parts counter

Full:

Cam processor

ON: Run cam pgm: Confirm track outputs: Fault acknowledgement:

Description The current values of the axis parameters are provided in the axis section, and cannot be modified. Only two buttons are accessible. These are used to reset shortcircuit faults occurring on each of the module connectors.

In the cam processor section, it is possible to set the processor to RUN or STOP, to enable/lock track outputs, or to acknowledge faults occurring on these outputs.

TLX DS 57 PL7 xx

107

Debugging and adjusting

Description of the debugging zone: "Acquisition"

Accessing the screen

At a glance

This zone is variable and depends on the selection made in the browser.

Selection of acquisition in the browser:

Electronic cam

Acquisition

01 Cam processor

Parts counter

Connector0

Connector1

This acquisition zone is used to display the state and activity of the encoder inputs and the recalibration and capture sensors.

Debugging: Acquisition

State of the physical inputs

Encoder: IA IB

PD: Irec Icapt0

Icapt1

Confirmation/Recalibration/Captures

Angle:

No. of cycles:

0 pulses Angle:

No. of cycles:

0 pulses

Recalibration

Angle: 0

No. of cycles: 0

Recalibration of no. of cycles CAPT0 Recalibration of angle

Confirmation

Direct pulses

CAPT1

The Enable/Recalibrate/Captures zone indicates the current status of the capture and recalibration registers. The buttons are used to confirm the angle and cycle recalibration conditions. The direct recalibration buttons are used to recalibrate the angle and the number of cycles on the rising edge of the action on the button. The capture confirmation buttons are used to confirm the angle and number of cycles capture conditions.

108

TLX DS 57 PL7 xx

Debugging and adjusting

Operation of the

Buttons

"Left click", the action is a push/pull type of operation on the %Q object unless it is controlled by the application program.

"Right click", opens a pull-down menu which is used to force the function to 0 or 1.

The Unforce option is used to remove the forcing in progress. The status of the button indicates forcing in progress.

Status of button

Force to 0

Force to 1

Unforce

TLX DS 57 PL7 xx

109

Debugging and adjusting

Description of the debugging zone: "Parts counter"

Accessing the screen

At a glance

The "Parts counter" function is selected in the browser.

Electronic cam

Acquisition

01 Cam processor

Parts counter

Connector0

Connector1

"Parts counter" screen zone

Debugging: Cam processor. Parts counter

Counter

Reset counter:

Confirmation:

Maximum value: 1

Current value: 0

The current value of the parts counter is displayed, together with the maximum value given in the recipe.

An enabling button: Reset counter enables the counter to be reset to 0 on the rising edge. An enabling button: Confirmation is used to confirm the conditions for parts counting. This button confirms conditions permanently when it is pressed (black).

110

TLX DS 57 PL7 xx

Debugging and adjusting

Description of the debugging zone: "Group x"

Accessing the screen

At a glance

The Group x function is selected in the browser.

Electronic cam

Acquisition

Cam processor

Parts counter

Connector0

Group0

Group1

Connector1

Group2

Group3

This screen zone is divided into two sections.

Cam processor. Connector0. Group0 Debugging:

Confirming cams bit 0: bit 1: bit 2: bit 3: bit 4: bit 5: bit 6: bit 7:

Tracks/Outputs

0 1 2 3 4 5 6 7

Status of tracks

Confirming the output

Forcing the output

State of the outputs

TLX DS 57 PL7 xx

111

Debugging and adjusting

Confirming the cams

Confirming tracks and outputs

Confirming the cams:

Confirming cams bit 0: bit 1: bit 2: bit 3: bit 4: bit 5: bit 6: bit 7:

Each cam in a group can be conditioned on the status of one of the group’s 8 cam confirmation bits. Periodic command objects can be accessed from this screen. (It is possible to set them to 1 as long as the application program is not controlling them). There is no forcing.

Confirming tracks and outputs:

Tracks/Outputs

0 1 2 3 4 5 6 7

Status of tracks

Confirming the output

Forcing the output

State of the outputs

112

4 3 2 1

Correspondence between the status of the tracks and the status of the outputs

Address Description

1 As long as output confirmation is not set to 1 the output remains at 0.

If output confirmation is set to 1, the output takes the status of the track.

As long as the forcing bit is set to 1 the output is set to 1.

Effect of output inversion linked to configuration.

This zone shows the current status of the tracks. Two rows of buttons are used either to confirm each output individually, or to force each output individually (the button turns black).

The lower row is used to display the actual state of the outputs.

TLX DS 57 PL7 xx

Debugging and adjusting

Description of the adjustment screen

At a glance This screen is used to enter and/or modify the parameters of the axis without stopping the processor cam treatment. This mode is used to access a certain number of recipe adjustment parameters.

The layout of this recipe adjustment zone is identical to the "adjust recipe" screen.

Only one function can be modified at a time.

The debugging zone remains simultaneously in these modes.

Description Adjustment Screen

TSX CCY 1128 V1.0 IE 15 [RACK 0 POSITION 5]

Adjustment

Designation: 2 CH.COUNTER.MEASUREMENT Version: 1.0

RUN ERR IO

Symbol:

Function:

Electronic cam

Task:

MAST

CH0

Electronic cam

Acquisition

01 Cam processor

Parts counter

Connector0

Connector1

Adjustment parameters: Acquisition

Axis

No. of pulses/cycle:

Initial value:

256

Recalibration

Value of the angle: 132

Initial value: 0 pulses 3

Axis play value:

Initial value:

0 pulses

Axis:

Angle: 0 pulses

Movement direction:

No. of

Reset connector 0:

Cam processor

ON: Run cam pgm:

0 Speed: 0

Recalibrated pulses/ms

Reset connector 1:

Parts counter

Full:

Confirm track outputs: Fault acknowledgement:

TLX DS 57 PL7 xx

113

Debugging and adjusting

This table describes the different zones:

Address Description

1 Selection zone

Main debugging zone

Adjustment zone (e.g.: acquisition)

Confirming new parameters

After modifying parameter values during debugging, the user should press the confirm button. A request is then sent to the module. The module acknowledges the modification without stopping the cam processor. The modification is in the current module parameters. Switch to Adjust Recipe mode to save them as initial

parameters.

114

TLX DS 57 PL7 xx

Debugging and adjusting

Description of the adjustment zone

Adjustment zone:

"Acquisition"

The "Acquisition" function is selected in the browser.

Electronic cam

Acquisition

Cam processor

Parts counter

Connector0

Group0

Group1

Connector1

The only values that can be modified are the values for the play of the axis, the value of the angle of recalibration and the number of cycles. In these screens: whatever is displayed in blue can be modified.

Adjustment parameters: Acquisition

Axis

No. of pulses/cycle:

Initial value

Number of the cycle:

Initial value

Axis play value:

Initial value

256

25 pulses

Recalibration

Value of the angle:

Initial value:

Value of no. of cycles: 0

Initial value: 0

132

0 pulses

Adjustment zone: "parts counter"

Opening via the browser:

Electronic cam

Acquisition

Cam processor

Parts counter

Connector0

Group0

Group1

Connector1

In this screen the maximum value of the parts counter can be modified.

Adjustment parameters: Cam processor. Parts counter

Parts counter

Threshold:

Initial value:

TLX DS 57 PL7 xx

115

Debugging and adjusting

Adjustment zone: "track"

Opening via the browser:

Electronic cam

Acquisition

Cam processor

Parts counter

Connector0

Group0

Group1

Track0

Track1

Track2

For each selected track, it is possible to assign to it, (modify), a factor of anticipation.

The value will be a number of steps of 50 micro seconds.

Adjustment parameters: Cam processor. Connector0. Group0. Track0

Auxiliary functions

Anticipation factor:

Initial value:

EVT track

Initial value

Application inverts on output

Initial value

Parallel track

Initial value

* 50µ s

Action on the parts counter

Forward:

Initial value:

Reverse:

Initial value:

No action

116

TLX DS 57 PL7 xx

Adjustment zone: " cam"

Debugging and adjusting

Opening via the browser:

Connector0

Group0

Track0

Cam0 P(0, 0, 0)

Cam1 M(100, 0, 1)

Cam2 F(150, 200, 0)

It is only possible to open configured cams.

Thresholds X1, X2 and the time delay value can be modified. The initial value is given for information and allows you to return easily to the previous conditions.

Adjustment parameters: Cam processor. Connector0. Group0. Track0. Cam3

Confirmation condition Cam definition

Type: Position

Initial value: Position

ThresholdX1:

Initial value:

110

0 pulses

ThresholdX2:

Initial value: 0 pulses

Cam monitoring:

Initial value:

Cam still operative

Confirmation bit number: 0

Closing delay

Initial value:

*0.1 ms

Activation condition

Forward direction

Reverse direction

Initial value

Confirming new parameters

After modifying parameter values during debugging, the user should press the confirm button. A request is then sent to the module. The module acknowledges the modification without stopping the cam processor. The modification is in the current module parameters. Switch to "Adjust Recipe" mode to save them as initial parameters.

TLX DS 57 PL7 xx

117

Debugging and adjusting

118

TLX DS 57 PL7 xx

Programming

At a glance

Subject of this chapter

What's in this chapter?

This chapter describes the different programming steps and functions of an electronic cam module

This chapter contains the following topics:

Topic

Circuit diagram of the module functions

Confirmation of the axis functions

Confirming the cam processor functions

Confirming the events

Overview of event management

Language interface

Module level status

Configuration constants

Module adjustment parameters, explicit command

Implicit commands

Processor and module exchanges

System exchanges

WRITE_PARAM: Transfer of current recipe parameters

READ_PARAM: Transfer of current recipe parameters

RESTORE_PARAM: Transferring initial parameters

SAVE_PARAM: Transferring initial parameters

MOD_PARAM: Axis adjustment

MOD_TRACK: Adjusting a track

MOD_CAM: Adjusting a cam

TRF_RECIPE: Recipe transfer functions

Page

TLX DS 57 PL7 xx

119

Programming

Topic

TRF_RECIPE: Functions for storing recipes

TRF_RECIPE: Loading a new recipe

TRF_RECIPE: Saving a new recipe

DETAIL_OBJECT: Operator dialog interface

DETAIL_OBJECT: Transferring cam details

DETAIL_OBJECT: Transferring track details

Page

120

TLX DS 57 PL7 xx

Programming

Circuit diagram of the module functions

General overview

This circuit diagram describes a general overview of the functions of the module: zoom on next page

Group 0

Recipe tracks

TSX 57

Combinational

Module

Physical adaptation of the outputs

32 cams

Assigning the cams to the tracks

Assigning the tracks to the outputs,

Forcing the outputs,

Confirmation

Inverting the outputs outputs of the

TSX CCY

1128 on connector 0

32 cams

Group 1

Assigning the cams to the tracks tracks

Paralleling the tracks

Assigning the tracks to the outputs,

Forcing the outputs

Inverting the outputs

TSX 57 outputs connector 1

Group 2 same as Group 0

Group 3 same as Group 1

TLX DS 57 PL7 xx

121

Programming

Detail for output

0 and track 0 of group 0

This circuit diagram describes the zoom from the previous page:

Recipe

(*)GROUP0_ENABLE_BITS:X0

(Confirmation bit assigned to the cam) %QW INVERT_TRACK

(Inverting the track’s logic state)

%MW

TSX 57 Combinational Module

GROUPE0_AND_BIT:X0

(assigning tracks to the output)

OUTS_ENABLE

%QW

(Confirmation of the output) %Q

Physical adaptation of the outputs

GROUP0_OR_BITS)

(forcing the output to 1)

%QW

INVERT_OUT_0

(Inverting the output) %KW

Cam n

Output 0

Cam n+1

ADD_TRACK possibility of paralleling track 4

%MW on track 0

%MW

122

Note: The cams assigned to one track cannot be assigned to another.

(*) There are two other possibilities: l l still valid parts counter full

TLX DS 57 PL7 xx

Confirmation of the axis functions

Capture The module is able to capture the following: l l the current angle value, the current value of the number for the cycle, (for type 2)

AND FOR THE INCREMENTAL ENCODER ONLY l l l the number of points per turn of the encoder, the current value before recalibration, and the current value on detection of the zero pulse marker

Example: Capture Angle and number of cycles in CAPT0 register

CAPT0_ENABLE AND ICAPT0

ANG_VALUE

TURN_VALUE

CAPT0_ANG

CAPT0_TURN

Programming

Recalibration With an incremental encoder, the counter using the position value must have been recalibrated at least once for the processor to switch to RUN on a

PCAM_START_STOP command.

The implicit commands: l l

PRESET_ANG_ENABLE or PRESET_ANG_FORCE (for Type 1 and Type 3)

PRESET_ALL_ENABLE or PRESET_ALL_FORCE (for Type 2) must be positioned at 1 for the recalibration to be carried out.

Information ANG_OK changes to 1 when the counter is stalled.

TLX DS 57 PL7 xx

123

Programming

Type 1 and Type 3

RESET_ANG_ENABLE

Physical input or zero

PRESET_ANG_FORC

PRESET_ANG_VALUE

ANG_OK set to 1

ANG_VALUE

Type 2

RESET_ANG_ENABLE

Physical input or zero marker

PRESET_ANG_FORC

PRESET_ANG_VALU

E and

ANG_OK set to 1

ANG_VALUE and

TURN_VALUE

124

TLX DS 57 PL7 xx

Programming

Confirming the cam processor functions

RUN The PCAM_START_STOP command object is used to set the cam processing to

RUN.

This will be effective on the rising edge of the command bit: l l

If the axis is recalibrated, if there is no external or application fault detected

If the cam processor is at STOP all the tracks are at 0.

Note: The forcing command and physical inversion of the outputs remain active.

TLX DS 57 PL7 xx

125

Programming

Confirming the events

Event sources

Confirming events

Processing

Conditions

The TSX CCY 1128 module includes 7 sources of events. Each of these can produce a maximum of one event per ms.

For a source to be able to produce its events, its validation bit must be set to 1. (for example: EVT_CAPT0_ENABLE for the capture event 0).

All the events sent by the module, regardless of the source, call up the same single event task in the PLC system.

There is normally only one type of event signaled per call. The switch to angle modulo information is signaled when the switch to Cycle modulo occurs. The source producing the call is determined in the event task via the Events input variable

(%IWxy.0.12). This variable is updated at the beginning of event task processing.

The number of the event task must be declared on the module configuration screen.

The module cannot send out more than one event per ms. This flow can be stopped if several modules send out events simultaneously on bus X.

The module has a buffer with 7 spaces that can be used to store several events awaiting transmission.

If the module cannot send all the internally produced events, the OVERRUN_EVT bit of the Events variable switches to 1.

For the "Modulo crossing" event, the configured current value format must be either type 2 (cyclic) or type 3 (infinite).

126

TLX DS 57 PL7 xx

Programming

Overview of event management

At a glance

Process

Event source

Recalibrating the angle and number of cycles

This synopsis describes event management:

Confirmation of events

EVT_PRESET_ENABLE

%Qxy.0.10

TSX CCY 1128 module event buffer memory

1evt/ms

TSX 57 processor

In the EVT task

1evt/x (1) ms

(* Recalibration *)

! IF EVT_PRESET...

%IWxy.0.12:x2

Switch to Angle modulo

EVT_ANG_ENABLE

%Qxy.0.8

Switch to Cycle modulo

EVT_TURN_ENABLE

%Qxy.0.9

Detection of cam EVT_CAM_ENABLE

%Qxy.0.13

Capture 0 EVT_CAPT0_ENABLE

%Qxy.0.11

(* ANGLE modulo *)

! IF EVT_ANG...

%IWxy.0.12:x0

(* Cycle Modulo *)

! IF EVT_TURN ...

%IWxy.0.12:x1

Note: Saturation of the buffer memory is signaled by the OVERRUN_EVT bit. This bit must be read in the event task.

(1) x ms for 1 ms, normally if system event management is not saturated.

(*CAMS*)

! IF EVT_CAM ...

%IWxy.0.12:x5

(* Capture 0*)

! IF EVT_CAPT0 ...

%IWxy.0.12:x3

Capture1 EVT_CAPT1_ENABLE

%Qxy.0.12

Parts counter full EVT_PIECES_FULL_ENAB

%Qxy.0.14

(* Capture 1*)

! IF EVT_CAPT1 ...

%IWxy.0.12:x4

(* Parts counter full*)

! IF EVT_PIECES_FULL

...

%IWxy.0.12:x6

TLX DS 57 PL7 xx

127

Programming

Language interface

At a glance The language interface defines all the data that can be read or modified by the application program. The data is implicit and periodic (%Q, %QW, %I, %IW) when it is updated automatically by the PLC task. It is explicit and not periodic (%MW) when it is updated by the program after execution of the READ_STS or READ /

WRITE_PARAM functions.

It is possible to associate with each word or bit a symbol that can be used by the application program (see PL7 reference manual). A table of symbols has been predefined. They can be assigned to the module data (see PL7 Reference Manual).

128

TLX DS 57 PL7 xx

Programming

Module level status

Module status objects

These objects are common to all the modules in the range.

Object

%Ixy.MOD.ERR

%MWxy.MOD.2

Symbol

MOD_FAULT

FAULTY_MOD

FAULTY_CH

MOD_CNF_FLT

MISSING_MOD

Meaning module error bit x0 = 1 internal error: module failure x1 = 1 channel operating fault (see channel status) x2 to x4 reserved x5 = 1 fault in configuration: difference between the value configured and that read x6 = 1 module missing or off x7 = reserved

They give information about the module status.

The value of these objects is updated by an explicit command:

READ_STS %CH xy .MOD

TLX DS 57 PL7 xx

129

Programming

Configuration constants

Module level constants

Object

%KWxy.0.0

%KWxy.0.1

%KWxy.0.2

%KW common to the module:

Symbol

EVT_CONF

EVT_ENABLE

EVT_NUM reserved

INPUT_CONF

INPUT_MOD

LINE_FILT

DIRECTION_INV

MULT4_RESOL

LINE_CTRL

FORMAT_MEAS_0

FORMAT_MEAS_1

PRESET_MOD_0

PRESET_MOD_1

CAPTS_MOD_0

CAPTS_MOD_1

CAPTS_MOD_2

Meaning

Event configuration

Bit 0: masking the event

16#FF no event task

16#00 event task priority 0

16#01 event task priority 1

Bit 1: event task number

16#FF no event task

Configuration of the axis x0, x1: Type of encoder

= 16#00: incremental encoder

= 16#01: SSI link absolute encoder

= 16#02: parallel absolute encoder and TSX ABE7CPA11 x2: reserved x3 =1 filtering of inputs (disconnection frequency125KHz) x4 =1 the axis rotates in the opposite direction to the encoder x5: reserved x6 =1 multiplication by 4 of the encoder resolution x7 =1 encoder line check x8, x9 measurement type

=16#00 Type 1 (angle)

=16#01 Type 2 (angle + cycles)

=16#02 Type 3 (linear) x10, x11 type of recalibration

=16#00 no recalibration

=16#01 recalibration on rising edge of Irec

=16#02 recalibration on rising edge of Irec on FWD recalibration on falling edge of Irec in REV

=16#03 recalibration on rising edge of Z FORWARD and

Irec=1 recalibration on falling edge of Z in REV and Irec =1 x12, x13, x14 types of capture capture 0: on the rising edge Icapt0 in every case capture 1:

=16#00 on falling edge Icapt0

=16#01 on rising edge Icapt1

=16#02 number of pulses per cycle

=16#03 angle value before recalibration

=16#04 angle value on rising edge of Z x15: reserved

130

TLX DS 57 PL7 xx

Object

%KWxy.0.3

%KWxy.0.4

%KWxy.0.5

%KWxy.0.6

%KWxy.0.7

%KWxy.0.8

%KWxy.0.9

%KWxy.0.14

Programming

Symbol

ABS_ENC_CONF_0

GRAY

WITH_PAR

EVEN_PAR

WITH_ERR

ERROR_LEV

ABS_ENC_ERROR_RANGE

ABS_ENC_READ_PERIOD

ABS_ENC_EXTRA_NB

BEGIN_NB

STAT_NB

ABS_ENC_DATA_NB

Meaning reserved absolute SSI encoder configuration

Choice of binary/Gray code x0 =0 binary x0 =1 Gray x1 =1 parity bit present in the frame x2 =1 even parity x3, x4 reserved x5 =1 parity bit present in the frame x6 = 1 logic level of error bit (default for logic1 ) x7 to x15 reserved rank of error bit in the status bits value: 16#00, 16#01, 16#02, 16#03, or 16#04 encoder read period:

16#00 = 50 microseconds

16#01 = 100 microseconds

16#02 = 200 microseconds number of additional bits supplied by the encoder:

Bit 0: number of header bits length of header field before MSB = 4 max

Bit 1: number of status bits length of status field before LSB = 4 max

Total number of encoder bits length of data field = 25 max reserved

TLX DS 57 PL7 xx

131

Programming

Object

%KWxy.0.15

Symbol

CONTROLES_CONF

C0_LOCK

PCAM_STAND_ALONE

%KWxy.0.16

%KWxy.0.17

PCAM_IGN_SC

OUTS_MAINT

SUPPLY_AUX_MSK

SUPPLY_ENC_MSK

SUPPLY_C0C1_MSK

REARM_MOD

SPEED_FORMAT

Meaning

Fault configuration x0: locking connector 0 x0 =1 no power supply monitoring on connector 0 x1: locking connector 0 x1 =1 no power supply monitoring on connector 1 x2 to x7 reserved x8: Option on switching to PLC communication fault: x8 = 0 the cam processor switches to STOP x8 = 1 cam processor remains in RUN mode x9: Option to switch to short-circuit fault x9 = 0 the cam processor goes to STOP x9 = 1 cam processor remains in RUN x10: Option on switching to PLC communication fault: x10 =0 outputs are set to 0V x10 =1 direct commands on maintained outputs x11: Option on auxiliary input power supply fault x11 =0 sets bit: %Ixy.0.ERR

x11 =1 no effect on %Ixy.0.ERR

x12: Option on encoder power supply fault x12 =0 sets bit: %Ixy.0.ERR

x12 =1 no effect on %Ixy.0.ERR

x13: Option on CNX0 and CNX1 connectors power supply fault x13 =0 sets bit: %Ixy.0.ERR

x13 =1 no effect on %Ixy.0.ERR

x14: Reactivation of outputs option x14 =0 reactivation on explicit command x14 =1 reactivation 10 seconds after tripping x15: reserved expression of speed

16#00: speed expressed in pulses/ms

16#04: speed expressed in pulses/s reserved

132

TLX DS 57 PL7 xx

Group level constants

Object

%KWxy.i.18

%KWxy

Symbol

INVERT_OUTi

INVERT_OUTi_0

INVERT_OUTi_1

INVERT_OUTi_7

Meaning electrical level of tracks output of group "i"

Inversion of track output i.0: x0 = 0 output i.0 = 24V for logic state 1 x0 = 1 output i.0 = 24V for logic state 0

Inversion of track output i.1: x1 = 0 output i.0 = 24V for a logic state 1 x1 = 1 output i.0 = 24V for a logic state 0 the same right up to:

Inversion of track output i.7: x7 = 0 output i.0 = 24V for a logic state 1 x7 = 1 output i.0 = 24V for a logic state 0

Programming

TLX DS 57 PL7 xx

133

Programming

Module adjustment parameters, explicit command

Adjustment parameters

Object

%MWxy.0.20

%MWxy.0.21

%MWxy.0.22

%MWxy.0.23

%MWxy.0.24

%MWxy.0.25

%MWxy.0.26

%MWxy.0.27

%MWxy.0.28

%MWxy.0.29

%MWxy.0.31

Adjusting the measurement function:

Symbol

PRESET_ANG_VALUE

PRESET_TURN_VALUE

SLACK_VALUE

MAX_PIECES

ABS_OFFSET_ANG

ABS_OFFSET_TURN

ABS_REDUC

RESOL_ANG

RESOL_TURN

Meaning value of angle recalibration value of number of recalibration cycles value of axis play adjustment inverted: hysteresis between -

1023 and + 1023 maximum value of number of parts value of the offset angle absolute encoder in relation to the machine 0 value of the offset of the absolute encoder cycle number in relation to the machine 0 absolute encoder resolution reduction factor:

16#01: no reduction

16#02, 16#04, 16#08, 16#10, 16#20: division by 2, 4, 8, 16, or 32 of the value supplied by the encoder machine resolution in number of pulses per cycle machine resolution in number of cycles reserved

134

TLX DS 57 PL7 xx

Programming

Adjustment of tracks

Object

%MWxy.i.(j)

%MWxy.i.(j+1)

Description of tracks

The description of the tracks is contained in words:

%MWxy.i.(j) and %MWxy.i.(j+1)

"i": represents the group to which track 0, 1, 2, or 3 is attached

"j": represents the value of the track number (0 to 7) multiplied by 2 plus 32

This table describes the track adjustment

Meaning Symbol

SPECIF_TRACK

PIECES_FORW

PIECES_BACK

ADD_TRACK

INVERT_TRACK

EVT_TRACK x0, x1: action on the parts counter in forward direction

16#00: No action

16#01: incremented every time the track changes to 1

16#02: decremented every time the track changes to 1

16#03: reset to zero every time the track changes to 1 x2, x3: action on the parts counter in reverse direction

16#00: no action

16#01: incremented every time the track changes to 1

16#02: decremented every time the track changes to 1

16#03: reset to zero every time the track changes to 1 x4 to x10 reserved x11 =1 paralleling of tracks on an output if the object represents: track 0 then: OUT 0 = track 0 + track 4 track 1 then: OUT 1 = track 1 + track 5 track 2 then: OUT 2 = track 2 + track 6 track 3 then: OUT 3 = track 3 + track 7 x12 =1 inversion of the track logic state x13 =1 event track x14: reserved x15 =0 the track does not participate in processing x15 =1 the track participates in processing

USE_TRACK

ANTICIP_FACTOR anticipation factor in steps of 50 microseconds value between 0 and 32767

TLX DS 57 PL7 xx

135

Programming

Adjusting the cams

Object

%MWxy.i.(j)

%MWxy.i.(j+1)

%MWxy.i.(j+2)

%MWxy.i.(j+3)

%MWxy.i.(j+4)

Description of cams

The description of the cams is contained in words:

%MWxy.i.(j) and %MWxy.i.(j+4)

"i": represents the group to which cam 0, 1, 2, or 3 is attached

"j": represents the value of the cam number (0 to 31) multiplied by 5 plus 48

This table describes the cam adjustment

Symbol

SPECIF_CAM_0

TYP_PROFIL

FORW_ENABLE

BACK_ENABLE

TRACK_NUM

USE_CAM

SPECIF_CAM_1

COND_ENABLE

BIT_NUM_ENABLE

TIME_SWITCH_OFF

Meaning specification of the profile of a cam x0 to x2: cam profile:

16#00: position cam

16#03: monostable cam

16#06: brake cam x3 =1 cam enabled in forward direction x4 =1 cam enabled in reverse direction x5 to x8: reserved x9 to x11: assigning to a track number (0 to 7) x12 to x14: reserved cam declared: x15 =0 the cam is not processed by the program x15 =1 the cam is declared and processed by the program

Cam confirmation conditions x0, x1: cam confirmation condition

16#00: cam still active

16#01: cam conditioned by a confirmation bit

16#02: the cam is confirmed when the parts counter reaches the programmed value x2 to x4: confirmation bit number x5 to x15: reserved value of cam threshold X1 value of cam threshold X2 value of time delay at opening in steps of 100 microseconds from 0 to 16383

136

TLX DS 57 PL7 xx

Programming

Implicit commands

Object

%Qxy.0.0

%Qxy.0.1

%Qxy.0.2

%Qxy.0.3

%Qxy.0.4

%Qxy.0.5

%Qxy.0.6

%Qxy.0.7

%Qxy.0.8

%Qxy.0.9

%Qxy.0.10

%Qxy.0.11

%Qxy.0.12

%Qxy.0.13

%Qxy.0.14

%Qxy.0.15

%Qxy.0.16

%Qxy.0.20

%Qxy.0.21

%Qxy.0.22

%Qxy.0.23

%Qxy.0.24

%Qxy.0.25

Global %Q commands

These are all the variables that are used to configure a channel command. The variables are exchanged implicitly by the module. Commands are performed by positioning %Q bits.

This table describes the global %Q commands

Symbol

PRESET_ANG_ENABLE

PRESET_ALL_ENABLE

CAPT0_ENABLE

CAPT1_ENABLE

PCAM_START_STOP

PIECES_ENABLE

EVT_ANG_ENABLE

EVT_TURN_ENABLE

EVT_PRESET_ENABLE

EVT_CAPT0_ENABLE

EVT_CAPT1_ENABLE

EVT_CAM_ENABLE

EVT_PIECES_FULL_ENABL

ACK_FLT

Meaning

= 1: confirmation of the recalibration function only on the angle value

= 1: enables the recalibration function on the angle and cycle value

= 1: enables capture 0

= 1: enables capture 1 reserved start command for the cam processor active on rising edge stop command for the cam processor active on falling edge reserved

= 1: enables the parts counter function

= 1: event source when switching to enabled angle modulo

= 1: event source when switching to enabled cycle modulo

= 1: event source for enabled preset

= 1: capture 0 enabled event source

= 1: capture 1 enabled event source

= 1: event source for enabled cam program

= 1: event source for enabled parts counter threshold reached

= 1: acknowledgement of faults present reserved

PRESET_ANG_FORCE

PRESET_ALL_FORCE

PIECES_RESET

OUTS_ENABLE

= 1: (re)calibrates the angle value

=1: (re)calibrates the angle and cycle values

= 1: parts counter reset to zero reserved

= 0: the outputs are kept idle (according to the outputs configuration) x25 = 1 global enabling of outputs

TLX DS 57 PL7 xx

137

Programming

Object

%Qxy.0.16

%Qxy.0.20

%Qxy.0.32

%Qxy.0.33

%Qxy.0.34

%Qxy.0.39

Symbol

C0_REARM

C1_REARM

Meaning reserved resetting of connector 0 of groups 0 and 1 active on rising edge resetting of connector 1 of groups 2 and 3 active on rising edge reserved

Object

%QWxy.0.0

%QWxy.0.1

%QWxy.0.2

%QWxy.1.0

%QWxy.1.1

%QWxy.1.2

%QWxy.2.0

%QWxy.2.1

%QWxy.2.2

%QWxy.3.0

%QWxy.3.1

%QWxy.3.2

Commands on

%QW groups

%QWxy.i.j words, exchanged implicitly, are used to control groups of cams for each module channel. i is the number of the channel group.

This table describes the commands on %QW groups

Symbol

GROUP0_ENABLE_BITs

GROUP0_AND_BITs

GROUP0_OR_BITs

GROUP1_ENABLE_BITs

GROUP1_AND_BITs

GROUP1_OR_BITs

GROUP2_ENABLE_BITs

GROUP2_AND_BITs

GROUP2_OR_BITs

GROUP3_ENABLE_BITs

GROUP3_AND_BITs

GROUP3_OR_BITs

Meaning x0 to x7 = 1: enables cams by track from 0 to 7, group 0 x0 to x7 = 1: assigns tracks to group 0 outputs x0 to x7 = 1: forces group 0 outputs (to 1) x0 to x7 = 1: enables cams by track from 0 to 7, group 1 x0 to x7 = 1: assigns tracks to group 1 outputs x0 to x7 = 1: forces group 1 outputs (to 1) x0 to x7 = 1: enables cams by track from 0 to 7, group 2 x0 to x7 = 1: assigns tracks to group 2 outputs x0 to x7 = 1: forces group 2 outputs (to 1) x0 to x7 = 1: enables group 3 cams x0 to x7 = 1: assigns tracks to group 3 outputs x0 to x7 = 1: forces group 3 outputs (to 1)

138

TLX DS 57 PL7 xx

Programming

%Ixy.0.4

%Ixy.0.5

%Ixy.0.6

%Ixy.0.7

%Ixy.0.8

%Ixy.0.9

%Ixy.0.10

%Ixy.0.11

%Ixy.0.12

%Ixy.0.13

%Ixy.0.14

%Ixy.0.15

Periodic inputs:

Object

%Ixy.0.0

%Ixy.0.1

%Ixy.0.2

%Ixy.0.3

Input bits or words are exchanged periodically (implicit exchange). There is no synchronization with the cam module cycle. They are used to find out the status of the module functions.

This table describes periodic inputs: %I

Symbol

ANG_OK

DIRECTION

PCAM_ON

PIECES_FULL

IREC_STAT

ICAPT0_STAT

ICAPT1_STAT

IA_STAT

IB_STAT

IZ_STAT

Meaning

=1: enable angle reading reserved

= 0: reverse direction (-)

= 1: forward direction (+)

= 0: cam processor in STOP mode

= 1: cam processor in RUN mode

= 1: parts counter at the threshold reserved reserved reserved status of IREC physical input reserved status of ICAPT0 physical input status of ICAPT1 physical input status of IA encoder input status of IB encoder input status of IZ encoder input reserved

TLX DS 57 PL7 xx

139

Programming

Periodic inputs:

%IW

Object

%IWxy.0.0

%IWxy.1.0

%IWxy.2.0

%IWxy.3.0

%IWxy.0.1

%IWxy.0.2

%IWxy.0.3

%IWxy.0.4

%IWxy.0.5

%IWxy.0.6

%IWxy.0.7

%IWxy.0.8

%IWxy.0.9

%IWxy.0.10

%IWxy.0.12

Words %IWxy.0.0 to %IWxy.0.10 are exchanged periodically (implicit exchanges).

This table describes %IW periodic inputs

Symbol

GROUP0_TRACKS

GROUP1_TRACKS

GROUP2_TRACKS

GROUP3_TRACKS

ANG_VALUE

TURN_VALUE

SPEED

PIECES_VALUE

CAPT0_ANG

CAPT0_TURN

CAPT1_ANG

CAPT1_TURN

OUTS_C0

OUTS_C1

EVENTS

EVT_ANG

EVT_TURN

EVT_PRESET

EVT_CAPT0

EVT_CAPT1

EVT_CAM

EVT_PIECES_FULL

DIRECTION_EVT

Meaning x0 to x7: status of group 0 tracks x0 to x7: status of group 1 tracks x0 to x7: status of group 2 tracks x0 to x7: status of group 3 tracks x0 to x15: current value of the position angle x0 to x15: current value of number of cycles x0 to x15: speed value x0 to x15: value of the parts counter x0 to x15: value of capture 0 register (angle) x0 to x15: value of capture 0 register (cycle) x0 to x15: value of capture 1 register (angle) x0 to x15: value of capture 1 register (cycle) x0 to x15: status of connector 0 outputs x0 to x15: status of connector 1 outputs event register x0 =1: event transmitted at each rollover of the angle value x1 = 1: event transmitted at each rollover of the cycle value x2 = 1: event transmitted on recalibration x3 = 1: event transmitted on capture 0 x4 = 1: event transmitted on capture 1 x5 = 1: event transmitted by the cam program x6 = 1: event transmitted when the parts counter reaches the threshold x7 to x13 reserved x14 = 1: forward direction of rotation on event: EVT_TURN or

EVT_ANG x14 = 0: reverse direction of rotation on event: x15 = 1: events overrun

%IWxy.0.13

%IWxy.0.14

%IWxy.0.15

OVERRUN_EVT

CAME_EVT

CAPT_ANG_EVT

CAPT_TURN_EVT x0 to x4 = cam number x5 to x6 = group number x7 to x15 reserved x0 to x15 captured angle value x0 to x15 captured value of number of cycles

Words %Iwxy.012.to %IWxy.015 are refreshed in the event task.

140

TLX DS 57 PL7 xx

Programming

Processor and module exchanges

At a Glance The module is used to modify parameters using the following exchanges:

Special Features Role

Transferring initial configuration and adjustment data

Transferring current parameters

Name system exchanges

WRITE_PARAM

READ_PARAM

Transferring initial parameters RESTORE_PARAM

SAVE_PARAM

Adjusting the axis

Adjusting a track

Adjusting a cam

MOD_PARAM

MOD_TRACK

MOD_CAM

These exchanges are specific to the cam module

TLX DS 57 PL7 xx

141

Programming

System exchanges

Reminder on exchanges

Transferring initial configuration and adjustment data

Exchanges comply with the Premium range exchange standard (see PL7 implementation manual).

Transfer is performed at the time of a warm restart, a cold restart or on request for reconfiguration from a programming terminal in connected mode.

The module switches to stop mode before each transfer.

Processor memory

%KWxy.

Axis configuration

Cam processor configuration

Group configuration

%MWxy.0.0

RECONF_IN_PROG

%MWxy.0.1

RECONF_IN_ERR

Module

TSX

CCY 1128

Save initial adjustments

Recipe

%MWxy.

Axis adjustment

Cam program

Channel status

%MWxy.

APPLI_FIT

COD_PARAM_FIT

COD_DESC_FIT

NUM_DESC_FLT

NUM_GROUP_FLT READ_STS %CHxy.0

142

TLX DS 57 PL7 xx

Transfer report

Programming l l

During the transfer, %MWxy.0.0:15 RECONF_IN_ PROG is set to 1.

At the end of the exchange, the bit RECNF_ERR is set to 1 if the exchange was not carried out correctly. The READ_STS %CHxy.0 function is used to refresh the channel status.

It contains the following data: l l

APPLI_FLT: the module does not have the configuration and adjustment data necessary for its operation.

COD_PARAM_FLT: error code found by the module in the axis. part of a l configuration or adjustment data item.

COD_DESC_FLT: error code found by the module in the track or cam descriptor part of a configuration or adjustment data item.

NUM_DESC_FLT: codes the track or cam number containing a description error.

NUM_GROUP_FLT: codes the group number which contains the track or cam containing a description error.

TLX DS 57 PL7 xx

143

Programming

WRITE_PARAM: Transfer of current recipe parameters

Reloading a modified recipe in the module

The WRITE_PARAM %CHxy.0 instruction is used to load the parameters of a modified recipe

%KWxy.

Axis configuration

Cam processor configuration

Group configuration

%MWxy.0.0

ADJ_IN_PROGR

%MWxy.0.1

ADJUST_ERR

WRITE_PARAM %CHxy.0

Module

TSX

CCY 1128

(Cam processor in STOP mode)

Save initial adjustments

Modifications

Recipe

%MWxy.

Axis adjustment

Cam program

Channel status

%MWxy.

APPLI_FIT

COD_PARAM_FIT

COD_DESC_FIT

NUM_DESC_FLT

NUM_GROUP_FLT

READ_STS %CHxy.0

All the recipe adjustment data is transmitted to the module using the

WRITE_PARAM %CHxy.0 function. The cam processor is switched to STOP mode.

If the exchange is faulty, the module remains in STOP mode.

144

TLX DS 57 PL7 xx

Transfer report

Programming

During the transfer, the bit %MWxy.0.0:x2 ADJ_IN_ PROG is set to 1.

At the end of the exchange, the bit ADJUST_ERR (bit %MWxy.0.1:x2) is set to 1 if l l the exchange has not been carried out correctly. The READ_STS %CHxy.0 function is used to refresh the channel status.

It contains the following data: l APPLI_FLT: the module refused the new recipe. The cam function cannot be activated. However, the old parameters contained in the module can be saved using the function READ_PARAM %CHxy.0.

l l

COD_PARAM_FLT: error code found by the module in the axis part of a configuration or adjustment data item.

COD_DESC_FLT: error code found by the modulein the track or cam descriptor part of a configuration or adjustment data item.

NUM_DESC_FLT: codes the track or cam number containing a description error.

NUM_GROUP_FLT: codes the group number which contains the track or cam containing a description error.

TLX DS 57 PL7 xx

145

Programming

READ_PARAM: Transfer of current recipe parameters

Retrieving current recipe parameters

The READ_PARAM %CHxy.0 instruction is used to retrieve the parameters of the current recipe contained in this module.

%KWxy.

Axis configuration

Cam processor configuration

Group configuration

%MWxy.0.0

ADJ_IN_PROGR

%MWxy.0.1

ADJUST_ERR

READ_PARAM %CHxy.0

Module

TSX

CCY 1128

(Cam processor at STOP or

RUN mode)

Save initial adjustments

Recipe

%MWxy.

Axis adjustment

Cam program

During the transfer, the bit ADJ_IN_PROGR is set to 1. The READ_PARAM instruction does not force the cam processor into STOP mode.

146

TLX DS 57 PL7 xx

Programming

RESTORE_PARAM: Transferring initial parameters

Loading the original recipe

In an application, it may be necessary to reload the initial parameters of a recipe.

%KWxy.

Axis configuration

Cam processor configuration

Group configuration

Save adjustments

Recipe

%MWxy.

Axis adjustment

Cam program

Module

TSX

CCY 1128

(Cam processor in

RUN mode)

RESTORE_PARAM %CHxy.0

The operating mode is identical to that of WRITE_PARAM.

TLX DS 57 PL7 xx

147

Programming

SAVE_PARAM: Transferring initial parameters

Saving recipe adjustments and modifications

In an application, after the adjustment and debugging phases have been completed, it is necessary to save the new axis parameters.

%KWxy.

Axis configuration

Cam processor configuration

Group configuration

Module

TSX

CCY 1128

RUN or

STOP)

Save adjustments

SAVE_PARAM %CHxy.0

Recipe

%MWxy.

Axis adjustment

Cam program

Saving the parameters can be done with the module and the cam processor in RUN mode.

148

TLX DS 57 PL7 xx

Programming

MOD_PARAM: Axis adjustment

General The MOD_PARAM function is used to adjust an axis dynamically. In this case, transferring modified data does not mean that the cam processor must be switched to STOP mode. If the transfer is successful, then the new parameters are recognized by the module. If the transfer is not successful, then the module uses the l l l l old axis adjustment values.

The MOD_PARAM function assigns to each exchange the parameters:

PRESET_ANG_VALUE: value of angle recalibration

PRESET_TURN_VALUE: value of recalibration for the number of cycles

SLACK_VALUE: axis play value

MAX_PIECES: parts counter threshold

Parameter buffer The exchange zone used by the MOD_PARAM function is a buffer made up of reserved words: %MWxy.0.16 to %MWxy.0.19.

Loading the exchange zone

The exchange zone (buffer) can be preloaded: l l with the initial adjustment values MOD_PARAM %CHxy.0 (0,0,0,0) action {Get} with the current adjustment values MOD_PARAM %CHxy.0 (1.0,0,0) action

{Read}

Sending the new values to the module

After modification in the buffer, the function MOD_PARAM %CHxy.0 (2,0,0,0) action {Send} sends the new values to the module and updates the current parameters zone.

TLX DS 57 PL7 xx

149

Programming

Initializing the parameter buffer action {Get} or action {Read}

%KWxy.

Axis configuration

Cam processor configuration

Group configuration

Save initial adjustments

MOD_PARAM %{Get}

Recipe

%MWxy.

Axis adjustment

Cam program

MOD_PARAM %{Read}

Module

TSX

CCY 1128

(RUN or

STOP)

%MWxy.0.16= PRESET_ANG_VALUE

%MWxy.0.17= PRESET_TURN_VALUE

%MWxy.0.18= SLACK_VALUE

%MWxy.0.19= MAX_PIECES_VALUE

Example {Get} MOD_PARAM %CHxy.0 (0,0,0,0);

{Read} MOD_PARAM %CHxy.0 (1,0,0,0);

150

TLX DS 57 PL7 xx

Programming

Sending new parameters

Action {send}

%KWxy.

Axis configuration

Cam processor configuration

Group configuration

%MWxy.0.0

ADJ_IN_PROG

%MWxy.0.1

ADJ_ERR

Save adjustments

Recipe

%MWxy.

Axis adjustment

Cam program

Modifications

MOD_PARAM {Send}

Axis parameters

%MWxy.0.16= PRESET_ANG_VALUE

%MWxy.0.17= PRESET_TURN_VALUE

%MWxy.0.18= SLACK_VALUE

%MWxy.0.19= MAX_PIECES_VALUE

Parameter buffer

%MWxy.

COD_PARAM_FIT

Module

TSX

CCY 1128

Cam processor in RUN mode

READ_STS %CHxy.0

Example

Monitoring the exchange

{Send} MOD_PARAM %CHxy.0 (2,0,0,0)

During the transfer, the bit (x15) ADJ_IN_PROG is set to 1. At the end of the exchange, the bit ADJUST_ERR is set to 1 if the exchange was not carried out correctly. The READ_STS %CHxy.0 function is used to refresh the channel status.

It contains the following data: l COD_PARAM_FLT: error code found by the module in the axis part of a configuration or adjustment data item.

TLX DS 57 PL7 xx

151

Programming

MOD_TRACK: Adjusting a track

General The MOD_TRACK function is used to adjust a track dynamically. Transferring new data does not require the cam processor to switch to STOP mode. If the transfer is successful, the new parameters are recognized by the module. If the transfer is not successful, the cam processor remains in RUN mode with the old values.

The MOD_TRACK function only affects the anticipation value of a track.

Parameter buffer The exchange zone used by the MOD_TRACK function is a buffer made up of the reserved word: %MWxy.0.16.

Loading the exchange zone

The exchange zone (buffer) can be preloaded: l l with the initial anticipation values:

MOD_TRACK %CHxy.0 (0,Group,Track) with the current anticipation values:

MOD_TRACK %CHxy.0 (1,Group,Track) action {Get}

{action {READ}

Sending the new values to the module

After modification in the buffer: l the function

MOD_TRACK %CHxy.0 (2,Group,Track) action {Send} updates the track anticipation value in the module and in the current parameters zone.

Key Group: identifies the group number

Track: identifies the track number

152

TLX DS 57 PL7 xx

Programming

Initializing the parameter buffer action {Get} or action {Read}

%KWxy.

Axis configuration

Axis processor configuration

Group configuration

Save initial adjustments

MOD_TRACK{Get}

%MWxy.0.16=Anticip

%MWxy.0.0

ADJ_IN_PROGR

%MWxy.0.1

ADJUST_ERR

Recipe

%MWxy.0.0

Axis adjustment

Cam program

MOD_TRACK{Read}

Module

TSX

CCY 1128

Parameter buffer

Example For Group 0 Track 4 l {Read}: MOD_TRACK %CHxy.0 (1,0,4) l {Get}: MOD_TRACK %CHxy.0 (0.0,4)

The execution of the MOD_TRACK function can be monitored via the channel status level.

TLX DS 57 PL7 xx

153

Programming

Sending the new anticipation value

Action {Send}

%KWxy.

Axis configuration

Axis processor configuration

Group configuration

Save initial adjustments

Modifications

%MWxy.0.16

Anticip

%MWxy.0.0

ADJ_IN_PROGR

%MWxy.0.1

ADJUST_ERR

Recipe

%MWxy.0.0

Axis adjustment

Cam program

MOD_TRACK

Parameters

Channel status

Module

TSX

CCY 1128

%MWxy.0

COD_DESC_FIT

NUM_DESC_FLT

NUM_GROUP_FLT

READ_STS %CHxy.0

Example

Monitoring the exchange

For Group 0 Track 4: l {Send}: MOD_TRACK %CHxy.0 (2,0,4) l l

During the transfer, the bit (x15) ADJ_IN_PROG is set to 1.

At the end of the exchange, the bit ADJUST_ERR is set to 1 if the exchange was not carried out correctly. The READ_STS %CHxy.0 function is used to refresh the channel status.

It contains the following data: l COD_DESC_FLT: error code found by the module in a track adjustment data item.

NUM_DESC_FLT: codes the track number containing a description error.

NUM_GROUP_FLT: codes the group number which contains the track containing a description error.

COD_LOCAL_FLT: indicates an error in the group or track number.

154

TLX DS 57 PL7 xx

Programming

MOD_CAM: Adjusting a cam

General The MOD_CAM function is used to adjust a cam dynamically. Transferring new data does not require the cam processor to switch to STOP mode. If the transfer is successful, the new parameters are recognized by the module. If the transfer is not l l l successful, the cam processor remains in RUN mode with the old values.

The MOD_CAM function assigns the following parameters:

X1: Low threshold

X2: high threshold

TIME_SWITCH_OFF: time delay

Parameter buffer The exchange zone used by the MOD_CAM function is a buffer made up of reserved words: %MWxy.0.16 to %MW xy.0.18.

Loading the exchange zone

The exchange zone (buffer) can be preloaded: l with the initial adjustment values:

MOD_CAM %CHxy.0 (0,Group,Cam) l with the actual adjustment values:

MOD_CAM %CHxy.0 (1,Group,Cam)

Sending the new values to the module

After modification in the buffer, the function: l MOD_CAM %CHxy.0 (2,Group,Cam) action {Send} sends the new values to the module and updates the current parameters zone.

Key Group: identifies the group number

Cam: identifies the track number action {Get} action {Read}

TLX DS 57 PL7 xx

155

Programming

Initializing the parameter buffer action {Get} or action {Read

%KWxy.

Axis configuration

Axis processor configuration

Group configuration

Save initial adjustments

MOD_TRACK{Get}

Recipe

%MWxy.0.0

Axis adjustment

Cam program

MOD_CAM{Read}

%MWxy.0.16= X1

%MWxy.0.17= X2

%MWxy.0.18= TIME_SWITCH_OFF

Parameter buffer

Module

TSX

CCY 1128

Initializing the parameter buffer

For cam 9 in group 2: l l action {Read}: MOD_CAM %CHxy.0 (1,2,9) action {Get}: MOD_CAM %CHxy.0 (0.2,9)

156

TLX DS 57 PL7 xx

Programming

Sending the new recipe

Action {Send}

%KWxy.

Axis configuration

Axis processor configuration

Group configuration

Save initial adjustments

Modifications

%MWxy.0.0

ADJ_IN_PROGR

%MWxy.0.1

ADJUST_ERR

Recipe

%MWxy.0.0

Axis adjustment

Cam program

MOD_CAM {Send}

%MWxy.0.16= X1

%MWxy.0.17= X2

%MWxy.0.18= TIME_SWITCH_OFF

Parameter buffer

Module

TSX

CCY 1128

Cam processor in RUN mode)

Channel status

%MWxy.

COD_DESC_FIT

NUM_DESC_FLT

NUM_GROUP_FLT

READ_STS %CHxy.0

Example

Monitoring the exchange

For cam 9 in group 2: l action {Send}: MOD_CAM %CHxy.0 (2,2,9)

At the end of the exchange, the bit ADJUST_ERR is set to 1 if the exchange has not been carried out correctly. The READ_STS %CHxy.0 function is used to refresh the channel status.

l l

It contains the following data: l COD_DESC_FLT: error code found by the module in a cam adjustment data item.

NUM_DESC_FLT: codes the cam number containing a description error.

NUM_GROUP_FLT: codes the group number which contains the cam containing a description error.

l COM_LOCAL_FLT: indicates an error in the group or track number.

TLX DS 57 PL7 xx

157

Programming

TRF_RECIPE: Recipe transfer functions

General l l

An application program can use several recipes. These are contained in several memory zones. The TRF_RECIPE instruction is used to: transfer the contents of the current recipe to a memory zone.

transfer a recipe from a memory zone to the %MW zone containing the current recipe and transfer it to the module. In this case the cam processor switches to

STOP mode as for the WRITE_PARAM instruction.

Note: It is possible to save (Restore) one or more recipes to the memory zone in a paged PCMCIA using the WRITE_PCMCIA (READ_PCMCIA) instructions.

158

TLX DS 57 PL7 xx

Programming

TRF_RECIPE: Functions for storing recipes

%MW for the recipe

A recipe is stored in %MW words in this way (n is the value of the "ADR" parameter coded in the instruction TRF_RECIPE):

Details Group Word addresses Content Number of words

%MWn to %MWn+11 Adjusting the axis 12 words

%MWn+12 to

%MWn+27

Descriptor for tracks 0 to 7

16 words Group 0

%MWn+28 to

%MWn+187

Descriptor for cams 0 to 31

160 words

16 words l l l l l

SPECIF-TRACK track 0

ANTICIP-FACTOR track 0

...

SPECIF-TRACK track 7

ANTICIP-FACTOR track 7

Cam 0 l l l

SPECIF-CAM_0

SPECIF_CAM_1

TIME_SWITCH_OFF

Cam...

l ...

Cam 31 l l l

SPECIF-CAM_0

SPECIF_CAM_1

TIME_SWITCH_OFF see Group 0 Group 1 %MWn+188 to

%MWn+203

%MWn+204 to

%MWn+363

%MWn+364 to

%MWn+379

%MWn+380 to

%MWn+539

%MWn+540 to

%MWn+555

%MWn+556 to

%MWn+715

Descriptor for tracks 0 to7

Descriptor for cams 0 to 31

Descriptor for tracks 0 to 7

Descriptor for cams 0 to 31

Descriptor for tracks 0 to 7

Descriptor for cams 0 to 31

160 words

16 words

160 words

16 words

160 words see Group 0 see Group 0 see Group 0 see Group 0 see Group 0

Group 2

Group 3

TLX DS 57 PL7 xx

159

Programming

TRF_RECIPE: Loading a new recipe

Diagram showing loading

Loading is triggered by a call from the application program.

%MW0

%KWxy.

Axis configuration

Cam processor configuration

Group configuration

%MWx0

Recipe 0

%MWx1

Recipe 1

TRF_RECIPE (Load; adr)

Module

TSX

CCY 1128

(in STOP mode)

Current recipe

%MWxy.

Axis adjustment

Cam program

Save initial adjustments

Channel status

%MWxy.0.0

ADJ_IN_PROG

%MWxy.0.1

ADJ_ERR

%MWxy.

APPLI_FIT

COD_PARAM_FIT

COD_DESC_FIT

NUM_DESC_FLT

NUM_GROUP_FLT

READ_STS %CHxy.0

Example Loading defines the word %MW800.

Action {Load} TRF_RECIPE %CHxy.0 (0,800) or

%MW0:= 800; TRF_RECIPE %CHxy.0 (0,800)

160

TLX DS 57 PL7 xx

Exchange monitoring

Programming

During the transfer, the bit (x15) ADJ_IN_PROG is set to 1.

At the end of the exchange, the bit ADJUST_ERR is set to 1 if the exchange was not l l carried out correctly. The READ_STS %CHxy.0 function is used to refresh the channel status.

It contains the following data: l APPLI_FLT: the module has refused the new recipe. The cam function cannot be activated. However, the old parameters contained in the module can be restored by a READ_PARAM %CHxy.0 instruction.

l l

COD_PARAM_FLT: error code found by the module in the axis. part of a configuration or adjustment data item.

COD_DESC_FLT: error code found by the module in the track or cam descriptor part of a configuration or adjustment data item.

NUM_DESC_FLT: codes the track or cam number containing a description error.

NUM_GROUP_FLT: codes the group number which contains the track or cam containing a description error.

TLX DS 57 PL7 xx

161

Programming

TRF_RECIPE: Saving a new recipe

Diagram of a save operation

Saving a recipe:

%KWxy.

Axis configuration

Cam processor configuration

Group configuration

%MW0

%MWx0

Recipe 0

%MWx1

Recipe 1

Application

TRF_RECIPE [Save]

Save initial adjustments

Channel

Recipe

%MWxy.

Axis adjustment

Cam program

%MWxy.0.0

ADJ_IN_PROG

%MWxy.0.1

ADJ_ERR

%MWxy.

APPLI_FIT

COD_PARAM_FIT

COD_DESC_FIT

NUM_DESC_FLT

NUM_GROUP_FLT

READ_STS

Module

TSX

CCY 1128

(RUN or

STOP mode)

Example Transferring the recipe used in the module to the %MW800 table.

(* Action {Save} *) TRF_RECIPE %CHxy.0 (1,800); or

%MW0:= 800; TRF_RECIPE %CHxy.0 (1,%MW0);

162

TLX DS 57 PL7 xx

Exchange monitoring

Programming

During the transfer, the bit (x15) ADJ_IN_PROG is set to 1.

At the end of the exchange, the bit ADJ_ERR is set to 1 if the exchange was not l l carried out correctly. The READ_STS %CHxy.0 function is used to refresh the channel status.

l l

COD_PARAM_FLT: error code found by the module in the axis part of a configuration or adjustment data item.

COD_DESC_FLT: error code found by the module in the track or cam descriptor part of a configuration or adjustment data item.

NUM_DESC_FLT: codes the track or cam number containing a description error.

NUM_GROUP_FLT: codes the group number which contains the track or cam containing a description error.

TLX DS 57 PL7 xx

163

Programming

DETAIL_OBJECT: Operator dialog interface

General

Function parameters

The DETAIL_OBJECT function facilitates the management and creation of a recipe using operator dialog. It gives the application program use of all the descriptive information for a track or a cam in a %MW memory zone selected by the programmer.

l l l l l l l l

DETAIL_OBJECT %CHxy.0 (ACTION, TYPE_OBJECT, NUM_GROUP,

NUM_OBJECT, ADR)

ACTION = 1: Ext is used to write the cam or track descriptor to a memory zone

Action = 0: Inc is used to write the cam or track descriptor with data to the memory zone.

type of object = 0: cam.

type of object = 1: track.

NUM_GROUP = number of the group to which the cam or track belongs.

NUM_OBJET = number of the cam or track in the group.

ADR = address of the first object in the memory zone.

164

TLX DS 57 PL7 xx

Programming

DETAIL_OBJECT: Transferring cam details

Diagram This diagram describes transferring cam details

%KWxy.

Axis configuration

Cam processor configuration

Save initial adjustments

Recipe

%MWxy.

Axis adjustment

Cam program

DETAIL_OBJET (1,0,.,.,.,)

Detail of cam descriptors

Module

TSX

CCY 1128

Example Breakdown of parameters for cam 9 in group 2 from address %MW100

DETAIL_OBJECT %CHxy.0 (1,0,2,9,100);

TLX DS 57 PL7 xx

165

Programming

Order in which cam parameters are stored

The parameters are stored in a %MW memory zone:

Position Meaning

0 bit 0 = 1 cam used type of cam bit 0 =1 enable in forward direction, bit 1 =1 enable in reverse direction reserved reserved reserved track number reserved cam monitoring selection code l l l

0 : still enabled

1 : confirmation bit condition

2 : counter full condition cam monitoring bit number reserved reserved

X1: low threshold

X2: high threshold delay value on opening reserved

166

TLX DS 57 PL7 xx

Loading cam details

Programming

The parameters are transferred into the recipe buffer from the memory zone

%KWxy.

Axis configuration

Cam processor configuration

Module

TSX

CCY 1128

Save initial adjustments

Recipe

%MWxy.

Axis adjustment

Cam program

DETAIL_OBJET (0,0,.,.,.,)

Detail of cam descriptors

Example

CAUTION

There is no consistency check at this level of transfer

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

Loading the details of cam 3, group 2, into the current recipe

DETAIL_OBJECT %CHxy.0 (0,0,2,9,100);

TLX DS 57 PL7 xx

167

Programming

DETAIL_OBJECT: Transferring track details

Diagram This diagram describes transferring a track

%KWxy.

Axis configuration

Cam processor configuration

Save initial adjustments

Recipe

%MWxy.

Axis adjustment

Cam program

DETAIL_OBJET (1,1,.,.,.,)

Detail of cam descriptors

Module

TSX

CCY 1128

Example Breakdown of parameters for track 5 group 1 from address %MW200. Loading the details of cam 3, group 2, into the current recipe

DETAIL_OBJECT %CHxy.0 (1,1,1,5,100);

168

TLX DS 57 PL7 xx

Order in which track parameters are stored

The parameters are stored in a %MW memory zone:

Position Meaning

0 bit 0 = 1 track used

Output, bit 0: INVERT_TRACK, bit 1: ADD_TRACK

Action code for switching to 1 for parts counter in forward direction

Action code for switching to 0 for parts counter in reverse direction

= 1 track declared as event value of anticipation factor

Programming

TLX DS 57 PL7 xx

169

Programming

Loading track details

The parameters are transferred into the recipe buffer from the memory zone.

%KWxy.

Axis configuration

Cam processor configuration

Module

TSX

CCY 1128

Save initial adjustments

Recipe

%MWxy.

Axis adjustment

Cam program

DETAIL_OBJET (0.1,.,.,.,)

Details of track

Example

CAUTION

There is no consistency check at the level of this transfer

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

Changing the details of track 5, group 1, in the current recipe from word %MW100

DETAIL_OBJECT %CHxy.0 (0,1,1,5,100);

170

TLX DS 57 PL7 xx

Performance and limitations

At a Glance

Object of this chapter

What's in this chapter?

This chapter describes the performances and limits of the electronic cam module.

This chapter contains the following topics:

Topic

Global precision in controlling the actuators

Actuator commands

General time-division performance characteristics

Functional limitations

Page

171

TLX DS 57 PL7 xx

Performance and limitations

Global precision in controlling the actuators

General Precision in controlling actuators in relation to the target mechanical position is linked to three factors: the resolution of the encoder, the speed and the reaction time of the module.

The resolution of the encoder

For a target precision of 0.1mm, the encoder should produce at least one or two pulses for 0.1mm.

l l

Caution: depending on the configuration selected, the resolution must be taken into account: after multiplying by 4 for an incremental encoder after reducing the resolution for an absolute encoder

Speed For the required position, and depending on the approach speed, the system should have a maximum reaction time.

Example: reaction time required for a target precision of 1mm.

Using the cam module in an application is justified for speeds between 10 and 300m/ min.

Linear speed

Reaction time on output command

10 m/min 300 m/min

PLC architecture

6 ms

CCY 1128 application

0.2 ms

Other

For a movement speed of<10 m/min, the entire application could be handled by a

TSX PLC.

The minimum reaction time of the CCY 1128 module is 0.2ms, the maximum movement speed is therefore 300m/min.

172

TLX DS 57 PL7 xx

Structural diagram of cam processing

Performance and limitations

The TSX CCY 1128 cam module optimizes its reaction time for controlling outputs depending on the parameters configured for the application.

Precision of the machine axis

Encoder Pulse period

1 /

ω x resolution

: rotation speed

Acquisition loop 0 µs = counting

50 µs: = SSI

100 µs: = SSI

200 µs: = SSI

Calculation loop

Internal module reaction time

Anticipation

50 µs: < = 16 cams

100 µs: < = 64 cams

200 µs: < = 128 cams

Propagation time:

< 150 µs

Output

Out

Reaction time linked to the machine

Actuators

...ms

TLX DS 57 PL7 xx

173

Performance and limitations

Acquisition loop The duration of the acquisition loop corresponds to the cycle for reading the absolute encoder via its SSI link. It is always synchronous with the calculation loop. The reading period is configurable (50 micro seconds, 100 micro seconds, 200 micro seconds).

The value selected must be dependent on the length of the SSI frame (number of bits), and the distance (l) between the encoder and the module.

Number of bits in the frame length

Calculation loop For an SSI encoder, the calculation period is optimized according to the number of cams configured, but cannot be less than the reading period.

For example: if T1 = 100 micro seconds then T2 = 100 micro seconds for a configuration of between 1 and 32 cams, T2 = 200 micro seconds for a configuration of between 33 and 128 cams.

Anticipation function

The output refresh period is fixed by the calculation loop:

With the incremental encoder, it is automatically fixed by the module depending on the number of cams used by the cam program (50 micro seconds up to 16 cams,

100 micro seconds up to 32 cams, 200 micro seconds up to 128 cams).

This is used to compensate for the fixed delay introduced by the actuator and its associated mechanics. The calculation loop ensures that the anticipation value for switching each output is updated.

174

TLX DS 57 PL7 xx

Performance and limitations

Actuator commands

Estimating precision for controlling actuators

The global communication delay of an output in relation to the crossing of a mechanical threshold depends on the application. It may be divided into two parts: l Minimum delay: is a constant part corresponding to the time necessary to set the outputs.

l Max/min delay: a variable part corresponding to the "jitter" brought by the periodicity of the refreshing of outputs. Internal module synchronization is such that the variable part is reduced to the influence of T0 (period between two encoder pulses) and of T2 (calculation period).

Minimum delay (1) in incremental encoder in absolute encoder

= T2+T3

= T1 + T2 + T3

Maximum / minimum delta (2) without anticipation with anticipation of the SSI with anticipation of the incremental

= T0 + T2

= 2 x (T0 = T2)

= 2 x T0 = T2

TLX DS 57 PL7 xx

175

Performance and limitations

Precision in output control

The switching delay on outputs causes an error in relation to the target threshold.

Illustration of the use of the without anticipation function

Position

Target threshold

Switching zone

Output

Time

The switching zone deviates from the target threshold proportionally to the speed.

Switching can be reset around the threshold using the anticipation system. To do this, simply add to the anticipation value = minimum delay (1 + 1/2 delta delay (2).

Minimum delay

Maximum / Minimum delay

Fixed deviation

Delta switching

176

TLX DS 57 PL7 xx

Illustration of the use of the with anticipation function

Position

Performance and limitations

Target threshold

Switching zone

Output Time

Anticipation

Caution: To make a valid correction to the delay caused by the module, the encoder resolution should be 2 to 5 times more precise than that which was estimated at the first attempt.

177

Performance and limitations

Calculation chart The tables below show the foreseeable errors depending on the application type and for a reference speed of 120m/min. Values for other speeds can be obtained by a simple rule of three.

Fixed deviation for a speed of 120 m/mn (encoder resolution = 0.1 mm)

Calculation No. of cams

50 (1) up to 16

100 (1)

200 (1) up to 32 up to 128 incremental

0.4 mm

0.5 mm

0.7 mm

SSI 50 (1)

0.5 mm

0.6 mm

0.8 mm

SSI 100 (1)

0.7 mm

0.9 mm

SSI 200 (1)

1.1 mm

Delta switching for a speed of 120 m/min without anticipation (encoder resolution

= 0.1 mm)

Calculation No. of cams

50 (1) up to 16

100 (1)

200 (1) up to 32 up to 128 incremental

0.2 mm

0.3 mm

0.5 mm

SSI 50 (1)

0.2 mm

0.3 mm

0.5 mm

SSI 100 (1)

0.3 mm

0.5 mm

SSI 200 (1)

0.5 mm

1 Values are expressed in micro seconds.

WARNING

The variation in communication (Delta switching) is increased if the anticipation system is used.

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

178

TLX DS 57 PL7 xx

Performance and limitations

General time-division performance characteristics

Calling an event task

Diagram of an event task call

Source Event

Module 1 ms 1 ms

System

Application t event transmission

< 1 ms

Event task call

EVT

The module includes 7 event sources (capture, cycle switching, cam ....).

The calling of event tasks is limited to a maximum of 1 event per ms.

Only one type of event is sent at a time to the system.

In the case of one event

The start of the event task is executed no more than 3 ms after the real event (e.g.: switch to cycle modulo).

In the case of several simultaneous events

The module integrates a buffer that allows the storing up to 7 events awaiting transmission to the system. The events will be sent in their order of arrival (1 per ms).

This, therefore, increases the reaction time.

TLX DS 57 PL7 xx

179

Performance and limitations

Table Description of the functions

Function

Counter

Recalibration

Cam function

Implicit interface

Explicit interface

Additional cycle time

Comments

Permitted frequency

Activation of the event task on switching of cycle

Recalibration of counter on Z marker pulse

Recalibration of counter on Irec

Event task activation

Refreshing output

Updating the correction values

(anticipation)

Activating the event task (cam, parts counter)

Influence of the module on the processor cycle time

Refreshing %I and %IW

Recognizing %Q and %QW

WRITE_PARAM

SAVE_PARAM

RESTORE

READ_STS

MOD_PARAM

MOD_CAM

MOD_TRACK

TRF_RECIPE

DETAIL_OBJECT

The cycle time has no effect on the output reaction time

Value

500Khz in x1

250Khz in x4

< 3 ms

< 1 micro second

< 50 micro seconds

< 3 ms

50 micro seconds up to 16 cams

100 micro seconds up to 32 cams

200 micro seconds up to 128 cams

< 4ms

< 3 ms

< 1 ms

300 ms

300 ms immediate (1) send: 20 ms (2) send: 20 ms (2) send: 20 ms (2)

300 ms immediate (1)

1 ms

(1) There is no access to the module / Execution time is included in the task execution.

(2) For GET and READ it is immediate as in (1).

180

TLX DS 57 PL7 xx

Performance and limitations

Functional limitations

Correction of axis play

Example

Reverse

IREC

Dmin (Pr+)

Tmin

(Pr-) Dmin

Forward

The application for correcting axis play allows you to to obtain a positioning of the cams on a mechanical position whatever the direction.

In the example, recalibration is done in a backwards direction. The actual mechanical position is the value delivered by the encoder in the backward direction and the corrected value in the forward direction (end).

A safety distance (Dmin) is necessary between the position of the cames and the points of return. (Pr+ and Pr-). This distance corresponds to the value of axis play that is given when the adjusting the track.

In addition, the actual application of the correction (in forward direction in the example) is effective 4 ms after the change in direction. Also the cams must be positioned in such a way that the direction of development is correctly established:

4 ms (Tmin) before the switch to the first cam.

TLX DS 57 PL7 xx

181

Performance and limitations

Anticipation Example with anticipation

Tmin

With anticipation

(Re)Start

Forward

Cam switching is anticipated (in time) in relation to the actual crossing of thresholds.

The value is fixed by the anticipation factor (T anticip = n x 50 microseconds).

Following a (re)start or a change of direction, there is a delay (Tmin) until anticipation is applied. For correct operation, the first cam switch should not be expected before this delay.

T min = 2 x ( T anticip + 4 ms)

The delay required for the axis to reach speed can be added to t min to increase precision.

182

TLX DS 57 PL7 xx

Diagnostics

At a Glance

Object of this chapter

What's in this chapter?

This chapter describes the error codes and relevant status words of the electronic cam

This chapter contains the following topics:

Topic

Module level status

Status of channel level

Error codes

Controls

Checking the integrity of the module

Monitoring the encoder

Checking auxiliary inputs

Monitoring track outputs

Questions and Answers

Page

183

TLX DS 57 PL7 xx

Diagnostics

Module level status

Module status objects

Method

These objects are common to all the modules in the range.

Object

%Ixy.MOD.ERR

%MWxy.MOD.2

Symbol

MOD_FAULT

FAULTY_MOD

FAULTY_CH

MOD_CNF_FLT

MISSING_MOD

Meaning module fault bit x0 = 1 internal fault: module failure x1 = 1 channel functional fault (see channel status) x2 to x4 reserved x5 = 1 configuration fault: difference between the value configured and that read x6 = 1 module missing or switched off x7 = reserved

They give information about the module status.

Value %MWxy.MOD.1 is updated again by an explicit command:

READ_STS %CH xy .MOD

If %Ixy.Mod.Err = 1 (default), perform the READ_STS command.

184

TLX DS 57 PL7 xx

Diagnostics

Status of channel level

Aperiodic status This data allows module diagnostics. Faults may be internal or external to the module.

Object

%Ixy.0.ERR

%MWxy.0.0

%MWxy.0.1

%MWxy.0.2

Symbol

Track_FAULT

EX_STS

STS_IN_PROG

ADJ_IN_PROG

RECNF_IN_PROG

EX_RPT

ADJUST_ERR

RECONF_ERR

CH_STS

ENC_FLT

AUXIL_FLT

TRACK_FLT

INTERNAL_FLT

CONF_FLT

COMMUNIC_FLT

APPLI_FLT

CH_LED

ENC_SUPPLY_FLT

ENC_WIRE_FLT

ENC_TRANSMIT_FLT

AUX_SUPPLY_FLT

C0_SUPPLY_FLT

C1_SUPPLY_FLT

Meaning group 0 fault bit exchange status management x0 = 1 channel status reading in progress x1 reserved x2 = 1 function: WRITE_PARAM, MOD_PARAM, MOD_TRACK,

MOD_CAM, TRF_RECEIPT in progress.

x3 to x14 reserved x15 = 1 reconfiguration in progress exchange report status x0 to x1 reserved x2 = 1 error on a communication function: WRITE_PARAM,

MOD_PARAM, MOD_TRACK, MOD_CAM, TRANF_RECEIPT.

x3 to x14 reserved x15 = 1 reconfiguration fault channel status x0 = 1 external fault: encoder supply fault x1 = 1 external fault: auxiliary inputs supply fault x2 reserved x3 = 1 external fault: tracks outputs fault x4 = 1 internal fault: internal module fault or module self-tests running x5 = 1 module hardware configuration fault or software configuration different to that expected x6 = 1 communication fault x7 = 1 error on a piece of data in recipe x8 and x9 state of the LED channel x10 = 1 encoder supply fault x11 = 1 encoder line fault x12 = 1 SSI Frame transmission fault (parity or format) x13 = 1 auxiliary inputs supply fault x14 = 1 connector 0 supply fault x15 = 1 connector 1 supply fault

TLX DS 57 PL7 xx

185

Diagnostics

Object

%MWxy.0.3

%MWxy.0.4

%MWxy.0.5

%MWxy.0.6

%MWxy.0.7

%MWxy.0.8

%MWxy.0.11

Symbol

EXTEN0_FLT

COD_PARAM_FLT

COD_DESC_FLT

Meaning channel status (specific) x0 to x5 error code for axis configuration or adjustment fault.

x6 to x11 error code for track or cam description fault x12 = 1 fault delivered by the SSI encoder x13 to x15 reserved

ENC_ALARM

EXTEN1_FLT

NUM_DESC_FLT

NUM_GROUP_FLT

COD_LOCAL_FLT channel status (specific) x0 to x4 order number of the faulty track or cam x5 to x6 group number of the faulty track or cam x7 to x8 reserved x9 to x15 error code for transfer of recipe data:

16#01 = the address specified does not exist

16#02 = the group specified does not exist

16#03 = the track specified does not exist

16#04 = the cam specified does not exist

16#05 = the action code specified does not exist

16#06 = the type of object does not exist reserved

C0_SHORT_CIRCUIT short-circuit fault on connector 0

16#0000 no fault

16#0001 short-circuit on group 0 tracks

16#0100 short-circuit on group 1 tracks

16#0101 short-circuit on group 0 and group 1 tracks

C1_SHORT_CIRCUIT short-circuit fault on connector 1

16#0000 no fault

16#0001 short-circuit on group 2 tracks

16#0100 short-circuit on group 3 tracks

16#0101 short-circuit on group 2 and group 3 tracks reserved

Method

The value of the %MW objects is updated by the READ_STS %CHxy.0 command.

If %Ixy.Mod.Err = 1 (default), perform the READ_STS command.

186

TLX DS 57 PL7 xx

Diagnostics

Error codes

Error codes In the channel periodic status word %MWxy.0.3, bits x0 à x5 are used to code the configuration or adjustment errors for the axis, and bits x6 à x11 code the description errors for a track or a cam. A symbol is associated with each error code.

COD_PARAM_FLT: error code for axis configuration or adjustment error

Code Faulty parameters

0 No error

EVT_ENABLE is not 0,1,or 255

EVT_NUM is not between 0 and 63

INPUT_MOD is not 0 (inc) or 1 (abs)

Reserved field is not at 0

FORMAT_MEAS is not 0,1 or 2

PRESET_MOD is not 0,1,2, or 3

CAPTS_MOD is not 0,1,2, or 4

Conf: Reserved field is not at 0

WITH_ERR is not zero - in incremental encoder

ABS_ENC_ERROR_RANGE is not zero - in incremental encoder

ABS_ENC_READ_PERIOD is not zero - in incremental encoder

CAPTS_MOD is not zero - in absolute encoder

ABS_ENC_READ_RANGE is greater than or equal to the number of status bits

ABS_ENC_READ_RANGE is at 0

ABS_ENC_READ_PERIOD is not 0,1 or 2 - in absolute encoder

ABS_ENC_READ_PERIOD - 50 micro – incompatible with frame length

ABS_ENC_READ_PERIOD incompatible with frame length

ABS_ENC_READ_EXTRA_NB - number of header bits is too big (0.4 allowed)

ABS_ENC_READ_EXTRA_NB - number of status bits is too big (0.3 allowed)

ABS_ENC_EXTRA_NB is at 0 – incompatible with WITH_ERR

ABS_ENC_DATA_NB - number of data bits is greater than 25

ABS_ENC_DATA_NB + ABS_ENC_READ_EXTRA_NB + WITH_PAR is greater than 32

PRESET_ANG_VALUE is greater than RESOL_ANG

PRESET_TURN_VALUE is greater than RESOL_TURN

TLX DS 57 PL7 xx

187

Diagnostics

Code Faulty parameters

SLACK_VALUE less than -1023

SLACK_VALUE greater than 1023

SLACK_VALUE greater than (RESOL_ANGL * RESOL_TURN)

SLACK_VALUE greater than RESOL_ANG/2

ABS_REDUC is at 0

ABS_REDUC is not 1,2,4,8,16 or 32

(ABS_REDUC*RESOL_ANGL*RESOL_TURN) greater than

ABS_ENC_DATA_NB

ABS_OFFSET_ANG greater than RESOL_ANGL

ABS_OFFSET_TURN greater than RESOL_TURN

RESOL_ANGL is not a power of 2 - in absolute encoder

Param: Reserved field is not at 0

PRESET_ANG_VALUE(adjustment) is greater than RES_ANG

PRESET_TURN_VALUE (adjustment) is greater than RES_TURN

SLACK_VALUE (adjustment) less than -1023

SLACK_VALUE (adjustment) greater than 1023

SLACK_VALUE (adjustment) greater than (RESOL_ANGL * RESOL_TURN)

SLACK_VALUE (adjustment) greater than RESOL_ANG/2

ABS_ENC_DATA_NB less than 8

RESOL_ANGL less than 256

INPUT_MOD (encoder) incompatible with FORMAT_MEAS

MAX_PIECES is less than 1

MAX_PIECES is greater than 32767

MAX_PIECES (adjustment ) is less than 1

MAX_PIECES (adjusted ) is greater than 32767

188

TLX DS 57 PL7 xx

List of track or cam error codes

COD_DESC_FLT: error code for track or cam description fault

Code Faulty parameters

0 No error

TYP_PROFIL unknown cam code

Cam: Reserved field is not at 0

TRACK_NUM is greater than 7

COND_ENABLE is not at 0,1,2

BIT_NUM_ENABLE impossible

Cam: Reserved field is not at 0

X1 is greater than RESOL_ANG

X2 is greater than RESOL_ANG

TIME_SWICH_OFF is not at 0

X2 is not at 0

TIME_SWITCH_OFF is greater than 16383

Cam: Reserved field is not at 0

Track: Reserved field is not at 0

ADD_TRACK on track 4 to 7

ANTICIP_FACTOR greater than 32767

ANTICIP_FACTOR is not at 0 – logical track

USED_CAM (adjustment) the cam has not been declared

X1(adjustment) is more than RESOL_ANG

X2 (adjustment) is greater than RESOL_ANG

TIME_SWITCH_OFF(adjustment) is not at 0

X2 (adjustment) is not at 0

TIME_SWITCH_OFF (adjustment) is greater than 16383

USED_TRACK (adjustment) the track has not been declared

ANTICIP_FACTOR (adjustment) greater than 32767

60 ANTICIP_FACTOR (adjustment) is not at 0 – logical track

Code Faulty parameters

TLX DS 57 PL7 xx

Diagnostics

189

Diagnostics

Controls

General

Display on module front panel l l l l l l l

The system checks that a module really is in good working order and is capable of performing the designated function.

The module tests its main components.

Checks correct operation of the internal self-tests performed on cold or warm restart of the internal software.

Checks communication between the cams module and the processing unit.

Checks supply and connection of the encoder.

Checks auxiliary inputs supply.

Checks track outputs.

The display on the module front panel shows the module operating status. The information is laid out in the following arrangement:

CH0 RUN ERR

I/O

On power-up, if CH0 and RUN light up green, the module has not detected any errors and is ready to operate.

The CH0 light is lit (green)

The RUN light is lit (green)

190

TLX DS 57 PL7 xx

Diagnostics

Checking the integrity of the module

Internal error Example

The ERR light is lit (red)

When the bit %Ixy.MOD.ERR = 1, the READ_STS %CHxy.MOD instruction is used to refresh the status, and you will find: FAULTY_MOD = 1

The outputs are guaranteed at 0V.

Communication error towards the module

For example, due to a break in the X bus linking the extension rack in which the module is located.

TLX DS 57 PL7 xx

The ERR light flashes (red)

The RUN light is lit (green)

The CH0 light flashes (green)

When the bit %Ixy.MOD.ERR = 1, the READ_STS %CHxy.MOD instruction is used to refresh the status, and you will find: FAULTY_MOD = 1

When the bit %Ixy.MOD.ERR = 1, the READ_STS %CHxy.MOD instruction is used to refresh the status, and you will find: COMMUNIC_FLT = 1 or INTERNAL_FLT =1.

The status of the outputs depends on the configuration selected (cam processor configuration).

191

Diagnostics

Monitoring the encoder

At a Glance Conitinous monitoring of the configured encoder is performed.

Monitoring the supply to the encoder: the real voltage applied to the encoder is measured.

Line monitoring: if requested during configuration, line breaks and short-circuits are detected by measuring the differential voltage on the encoder connection lines.

Monitoring transmission: two checks are made on the SSI link with the encoder.

A parity check if requested during configuration. An answer present check.

Encoder alarm: some SSI encoders bring up error data in the serial link frame. The module transmits the data, if requested during configuration, to the application software.

Signaling:

The ERR light (red) is off

The RUN light (green) stays lit

The CH0 light (green) flashes

The I/O light (red) is on

192

TLX DS 57 PL7 xx

Consequences of an encoder fault

Diagnostics

If the encoder power supply voltage is too low, if there is a line fault or if a transmission fault is detected: l Position reading is no longer ensured: data ANG_OK = 0 l The cam processor is switched to STOP mode: data PCAM_ON = 0

For an ALARM_CODEUR error, the module proceeds with processing as normal, the processor remains in RUN mode.

Bit %Ixy.MOD.ERR = 1. The READ_STS %CHxy.MOD instruction is used to refresh the status, and you will find: l FAULTY_CH =1

Bit %Ixy.0.ERR = 1. The READ_STS %CHxy.0 instruction is used to refresh the status, and you will find: l l l l

ENC_FLT = 1 and

ENC_ALARM = 1 if data is detected in the SSI frame

ENC_TRANSMIT_FLT = 1 if an SSI frame error is detected

ENC_WIRE_FLT = 1 if a line fault is detected l Enc_Supply_Flt = 1 if the encoder is incorrectly supplied

If encoder supply fault masking has been configured (supply ENC_MSK = 1) then

%IWxy.MOD.ERR, %IWxy.0.ERR and ENC_FLT will not change to 1 on an encoder supply fault.

TLX DS 57 PL7 xx

193

Diagnostics

Checking auxiliary inputs

At a Glance

Consequences of the supply fault

Auxiliary inputs supply fault

The 24 V voltage on the auxiliary I/O connector is monitored. A fault occurs if the voltage is less than 19V.

If the 24V power supply is too low (<19V): l l

Position reading is no longer ensured: data ANG_OK = 0

The cam processor is switched to STOP mode: data PCAM_ON = 0

Signaling: l l l l

The ERR light (red) is off

The RUN light (green) is on

The CH0 light (green) lashes

The I/O light (red) is on

Bit %Ixy.MOD.ERR = 1. The READ_STS %CHxy.MOD instruction is used to refresh the status, and you will find: l FAULTY_CH =1

Bit %Ixy.0.ERR = 1. The READ_STS %CHxy.0 instruction is used to refresh the status, and you will find: l AUX_FLT = 1 and l AUX_SUPPLY = 1 if the encoder is incorrectly supplied

If auxiliary inputs supply fault masking has been configured (SUPPLY_AUX_MSK) then: %IWxy.MOD.ERR, %IWxy.0.ERR and AUX_FLT will not be switched to 1 on an encoder supply fault.

194

TLX DS 57 PL7 xx

Diagnostics

Monitoring track outputs

At a Glance

Consequences of the fault

The 24V voltage is monitored on each of the track output connectors. A fault occurs if the voltage is less than 19V. The check is only made if the connector is unlocked.

Each output has a current limiting system (from 0.7 to 2 A). In the event of prolonged overcurrent, thermal tripping occurs.

For a supply fault to one of the connectors, the cam processor is set to STOP mode.

For a short-circuit fault on one of the track outputs, all the connector outputs are set to 0V.

Depending on the selected configuration of the "cam processor": l If the processor ignores short-circuit faults (CP_IGN_SC= 1) then the processor remains in RUN mode.

l Otherwise the processor is set to STOP mode.

If automatic reset is required (REARM_MOD =1), resetting of the faulty connector is automatic after 10s or else the fault must be acknowledged by the command

C0_REARM or C1_REARM according to the connector.

TLX DS 57 PL7 xx

195

Diagnostics

Track output faults

Signaling: l l l l

The ERR light (red) is off.

The RUN light (green) is on.

The CH0 light (green) flashes.

The I/O light (red) is on.

Bit %Ixy.MOD.ERR = 1. The READ_STS %CHxy.MOD instruction is used to refresh the status, and you will find: l FAULTY_CH =1

Bit %Ixy.0.ERR = 1. The READ_STS %CHxy.0 instruction is used to refresh the status, and you will find: l l l l l l l

TRACK_FLT = 1 and

C0_SUPPLY_FLT = 1 if connector 0 is incorrectly supplied

C1_SUPPLY_FLT = 1 if connector 1 is incorrectly supplied

C0_SHORT_CIRCUIT = 1 if an output in group 0 has short-circuited

= 256 if an output in group 1 has short-circuited

C0_SHORT_CIRCUIT = 1 if an output in group 0 has short-circuited

= 256 if an output in group 1 has short-circuited

If track output supply fault masking has been configured (SUPPLY_TRACK_MSK =

1) then %IWxy.MOD.ERR, %IWxy.0.ERR and TRACK_FLT will not change to 1 on a connector supply fault.

196

TLX DS 57 PL7 xx

Diagnostics

Questions and Answers

List Table of malfunctions

Malfunction

The cam processor does not switch to RUN mode

The cam processor changes to stop mode without modifying bit

%Qxy.0.5

(PCAM_START_STOP)

No action on the outputs

Loss of modifications to the current recipe

Following modification to the configuration, the browser turns red and it is not possible to confirm the configuration l l l

Possible causes l The module has not been recalibrated (bit

%Ixy.0.0.i=0).

There is no encoder supply

Lack of auxiliary input supply

CAUTION: If the faults have been masked, a fault can prevent the switch to RUN mode without appearing!

l l l l

Loading a recipe using the commands l l l

WRITE_PARAM

RESTORE_PARAM

TRF_RECIPE

The outputs are already valid OUTS_ENABLE

Parallelization of a track without configured cam

Forced outputs

Inverted outputs

When switching to local mode, if the save has not been done when adjusting the recipe

A parameter is no longer compatible with the new configuration l l l l

Switch to recipe adjustment

Click on No when requested to confirm

Modify the parameter

Confirm

TLX DS 57 PL7 xx

197

Diagnostics

198

TLX DS 57 PL7 xx

Glossary

A

Absolute encoder

Acquisition

Adjusting the

Recipe

Alternating movement

Angle reading

Anticipation

Axis

This type of encoder directly delivers the numeric value of the axis position. The position reading is kept in case of power outage.

Module functions that are used to calculate the position reading of the machine.

Adjusting the recipe is a PL7 facility that allows modification of the parameters of a recipe element (axis, cam or track) in connected mode. Modifications done under recipe adjustment do not stop the cam processor.

This is a typical movement for hydraulic presses and transfer machines. The axis describes a to and fro movement in a pulses domain equal to or less than the value of the cycle.

The "reading format" is type 1. The arrival of parts is synchronized by the machine

(Machine Synchro).

This is the instant position value of the axis in the cycle. This value is expressed as a number of pulses.

Cam processor function that is used to compensate for the delay caused by the machine’s actuators.

The anticipation value is applied to all changes of track status. It is specified by the

"anticipation factor" defined in the recipe parameters (value between 0 and 32 767 x 50 micro seconds).

These are all the external elements that control the movements of the machine

(reducer, encoder…).

TLX DS 57 PL7 xx

199

Glossary

Axis play This is the position error caused by the axis according to the direction of movement.

The cam processor can compensate for this error. The value of axis play is supplied in a configuration parameter.

C

Cam

Cam descriptor

Cam processor

Cam program

Capture

Cold restart

Communication fault

Configuration

Logic state which switches to 1 when an angular value in the cycle is overshot and which resets to 0 according to the type of cam.

A cam is systematically associated to one and only one track. Several cams can be associated to one track.

Part of the cam program that characterizes a cam (number of associated track, thresholds, type, confirmation condition, etc.).

This is the part of the module that directly controls the outputs according to the angle reading and according to the cam program supplied with the module.

This is all the internal data that defines the activation of the outputs according to the position reading of the axis. The cam program represents the most important part of the recipe.

A module function that is used to sample the position value of the axis on detection of a precise event (input Icapt0 and/or Icapt1). The capture has no impact on the values of the axis nor on the cam processor.

The implementation of this function allows the application to manage the process better, for example: in monitoring the number of pulses sent by the encoder, the size of the parts, the axis slip, the angle of arrival of the parts.

The module is initialized with current configuration and adjustment parameters.

This happens after the PLC supply has been cut or the supply has been reset or the module has been disconnected.

The module will execute the recipe in operation before the Reset.

Fault detected by the module when periodic exchanges with the PLC processor are no longer made.

The configuration gathers together the data which characterizes the machine

(invariant) and which is necessary for the TSX CCY 1128 module to operate.

All this information is stored in the PLC %KW constants zone. The PLC application cannot modify them.

200

TLX DS 57 PL7 xx

Continuous movement

Cycle

Cyclical movement

Glossary

This is the movement typical of conveyor belts. Theoretically the cycle is infinite. In fact, the limit for this module is 32768 pulses. The axis must be recalibrated when each part arrives (Part Synchro).

The "reading format" is type 3.

Area in which the action of the outputs can be programmed.

Caution: A complete cycle of the machine (machine cycle) must be a whole number of cycles.

This is the typical movement for packaging machines. The axis describes several cycles to carry out all the operations on a part. The direction of movement is usually constant.

The "reading format" is type 2. The arrival of parts is synchronized by the machine

(Machine Synchro).

D

Debugging

Deviation angle

Debugging is a PL7 facility that allows direct monitoring of the module in connected mode.

This is the axis position reading, taken each time it passes machine zero. This function for measuring axis slip can be accessed via the capture function.

E

Encoder Position sensor accepted by the module It can be incremental, SSI absolute or parallel (via Telefast ABE 7CPA11).

F

Filtering Filtering allows better environmental handling (for difficult environments). It is a filter that limits the bandwidth of counting signals which come from an incremental encoder.

With filtering the permitted frequency (before multiplying by 4) is 125 KHz, as against

250 KHz without filtering.

TLX DS 57 PL7 xx

201

Glossary

G

Gray code A binary code known as reflected, in which the change from term n to term n+1 is carried out by changing only a single digit, and so the code can be read unambiguously.

I

Incremental encoder

Pulse generator with 2 signals offset by 90°. These are produced according to the movement of the axis and are counted by the module.

L

Line monitoring System of monitoring the connection lines with the encoder. It detects breaks and short circuits between signals in the cable.

M

Machine cycle All of the cycles necessary to effect a complete operation of the machine.

Machine synchro Synchronization is carried out on a physical reference of the machine called

"Machine zero".

In this case the mechanism must control the arrival of the parts in the cycle. Each part will have to arrive for the same angle value, but you will always be able to find several parts on the machine at the same time.

Machine zero This is the mechanical reference position of the machine.

Measurement format

Defines the format for the axis position reading calculated by the module. It depends on the type of machine.

202

TLX DS 57 PL7 xx

Glossary

O

Offset

Operating mode

Output fallback

This is the rough value delivered by an absolute encoder to the machine zero.

By completing the adjustment parameter "Offset encoder", it is possible to set the angle value of the axis to 0 on the machine zero position.

These are all the rules that govern the performance of the module during transitory phases or when an error appears.

This is the behavior of the outputs under different errors: l If an electrical fault is detected on a connector (short circuit or supply under l voltage).

l All faulty connector outputs switch to 0V.

l Direct commands continue to be applied on the outputs of the other connector.

The cam processor can be set to Stop (according to the configuration).

If communication between the module and the central unit is defective.

l l The cam processor can be set to Stop (according to the configuration) l Direct commands continue to be applied or not (according to the configuration)

If the cam processor is in Stop mode.

l l

The tracks are set to logical 0.

The outputs can no longer be conditioned except by direct commands and INV information set at configuration.

l If the module is not configured (RUN light is out), the outputs are at 0V.

P

Part synchro Synchronization is carried out when each part arrives.

In this case parts can arrive at random on the machine, but the tool box can only handle one part at a time.

Pulses per cycle This is the number of pulses delivered by the axis per cycle.

In relation to the encoder resolution, this adjustment parameter must be considered: l l after multiplying by 4 for an incremental encoder after reducing the resolution for an absolute encoder.

TLX DS 57 PL7 xx

203

Glossary

R

Reading inversion

Recalibration

Recipe

Reducing the resolution

Resetting

Resolution

Rotating movement

This function allows the module to adapt itself to the type of mechanical mounting of the encoder on the axis.

This is the module function which is used to adjust the axis in relation to the machine zero or to synchronize the axis in relation to the arrival of a part.

Recalibration forces the position reading to a value which is predefined by the

"recalibration value" parameter (included in the pulse field of the cycle).

The module allows recalibration to be carried out systematically for each cycle or for only one cycle. This recalibration is always conditioned to the IREC input.

The recipe groups together the data required for the module to control the machine for a series of parts. The recipe can be modified or completely changed by the PLC application. All this information is contained in the PLC %MW words in the memory zone reserved for the module.

This function is used to divide the position value delivered by an absolute encoder via the "resolution reduction factor" by 2, 4, 8, 16 or 32.

Module function that allows a return to normal for the outputs after the outputs have been tripped.

The reset mode can be configured as "Manual" or "Automatic": l In "Manual", resetting is conditioned by a command bit controlled by the application.

l In "Automatic", resetting is carried out 10 seconds after the trip.

this is the smallest variation of input information which gives a measurable piece of output information.

This is a typical movement for mechanical presses and punching machines. The axis describes a complete cycle to carry out all the operations on a part. The direction of rotation is constant.

The "reading format" is type 1. The arrival of parts is synchronized by the machine

(Machine Synchro).

S

Short circuit fault The module includes a thermal circuit break system for the module's 24 V outputs.

204

TLX DS 57 PL7 xx

Slipping

SSI encoder

Synchro

Glossary

This system shows up a "short circuit fault".

Before a break, the short circuit current is limited to 1.5 A. The 24 V supply must be able to cope with this overload without a drop in voltage so that the rest of the application is not disrupted if there is an output fault.

This is the error of pulse loss in a cycle. This can be caused by the mechanical transmission of the axis. The module allows measurement of this slip (see:

"deviation angle").

Synchronous Series Interface link This is the standard connection protocol for absolute encoders that is used by the module.

l l

The transmission frequency is set by the module according to the following configuration parameters:

Number of bits making up the frame,

Reading period (50, 100 or 200 micro seconds).

"Part synchro", "Machine synchro": these are the two main modes of synchronization of the axis (which brings the parts in) in relation to the tool box. One or other of them is used according to the type of application.

Synchronization is necessary with an incremental encoder.

T

Top dead center With mechanical presses, you find a zone in the cycle which is called TDC. It is in this zone that the machine can and must be stopped. The "brake" cam is specially designed to deal with this problem.

Track This is the logic state which can be applied to the physical output. The maximum number of tracks is 32.

Track descriptor Part of the cam program that sets the parameters for the functions associated with a track (anticipation factor, generation of an event, evolution of the parts counter).

Turn pulse marker

Type of cam

Type of movement

A pulse supplied by a rotary incremental encoder, detected on each complete turn of the axis.

Essential feature of a cam. Defines the type of cam calculation according to the angle value (position, monostable or brake command).

This is the feature of the machine that sets the speed cycles on the axis.

TLX DS 57 PL7 xx

205

Glossary

W

Warm restart The module is initialized with the initial configuration and adjustment parameters.

This happens after a Reset of the CPU.

The module executes the initial recipe. Modifications done in connected mode, are not recognized if a "Save parameters" has not been carried out before the Reset.

206

TLX DS 57 PL7 xx