Schneider Electric Software PLC Application-Specific Functions, Axis control, Junior/Pro, 4.5 User Guide

PL7 Junior/Pro

Premium PLC Application-specific functions

Axis control

eng March 2005

2

Related Documentation

Introduction This manual consists of 8 volumes: l l

Volume 1 l l

Common specific-functions

Discrete I/O function l AS-i bus setup l Man-machine interface function

Volume 2 l l Counting function

Volume 3 l l l Axis control function

Volume 4 l Step-by-Step axis control function

Volume 5 l l Electronic cam function

Volume 6 l l l SERCOS function

Volume 7 l Analog function l PID Control function l Weighing function

Volume 8 l Process Control function

Related Documentation

TLX DS 57 PL7xx

3

Related Documentation

4

TLX DS 57 PL7xx

Table of Contents

About the book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Part I

Control of servo drive axes in Premium PLCs . . . . . . . 13

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Chapter 1

General introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

General Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Introduction to the Motor Operator Axis Control Range . . . . . . . . . . . . . . . . . . . 18

Functions Provided by the Axis Control Modules . . . . . . . . . . . . . . . . . . . . . . . . 22

Properties of Axis Control Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Limitations of CAY Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Chapter 2

Set-up methodology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Methodology for Implementing an Independent Axis . . . . . . . . . . . . . . . . . . . . . 30

Set-up methodology for interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

On-the-fly Implementation Methodology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Chapter 3

Introductory example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Description of the example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Prerequisites and methodology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

TSX CAY module configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Interpolator configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Symbolization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Programming the preliminary processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Programming the Grafcet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Transition programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Action programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Programming the post-processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Program transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Parameter adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Using manual mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

5

6

Debugging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Archiving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Part II

Independent axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Chapter 4

Axis control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Configuring the axis control modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Declaring the axis control modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

Accessing the parameter configuration screen . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Axis type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Encoder Type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Initial resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Measurement units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

Hi and Lo Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Modulo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Maximum speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Maximum setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Event . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Inversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Maximum acceleration or deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Slave of the position of axis 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Event input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

Reference point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

Recalibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

Masking of faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

Confirming configuration parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

Chapter 5

Programming axis control . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

Programming an independent axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

Programming an SMOVE function (in automatic mode ) . . . . . . . . . . . . . . . . . 114

Entering SMOVE function parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

Description of SMOVE function parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

Instruction codes for SMOVE function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

Description of elementary movements using a limited machine . . . . . . . . . . . . 122

Description of elementary movements using an infinite machine . . . . . . . . . . . 124

Programming a movement to a position without stop . . . . . . . . . . . . . . . . . . . . 127

Programming a movement to position with stop . . . . . . . . . . . . . . . . . . . . . . . . 128

Programming a movement until event detection . . . . . . . . . . . . . . . . . . . . . . . . 129

Programming a Simple Machining Command . . . . . . . . . . . . . . . . . . . . . . . . . . 131

Programming a reference point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

Programming a reference point on the fly on event . . . . . . . . . . . . . . . . . . . . . . 136

How to Program a Movement Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

Programming a forced reference point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

Programming an await event. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

Programming storage of current position on event . . . . . . . . . . . . . . . . . . . . . . 141

Sequencing movement commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

Programming the recalibration on the fly function . . . . . . . . . . . . . . . . . . . . . . . 148

Movement slaved to another TSX CAY •1 axis .. . . . . . . . . . . . . . . . . . . . . . . . 150

Movement slaved to another TSX CAY •2 axis . . . . . . . . . . . . . . . . . . . . . . . . . 152

Movement slaved to an external setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

Deferred PAUSE function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

Step by step mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

Feed HOLD function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

Event processing with an independent axis . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

Managing the operating modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

Fault management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

Description of external hardware faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

Description of Application Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

Description of command refused faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177

Managing manual mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178

Visual movement commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

Incremental movement commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

Reference point command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183

Forced reference point command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184

Cancel references command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185

Referencing and offset calculation command . . . . . . . . . . . . . . . . . . . . . . . . . . 186

Managing loop control disabled mode (DIRDRIVE) . . . . . . . . . . . . . . . . . . . . . 187

Managing measurement (OFF) mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189

Chapter 6

Adjusting independent axes . . . . . . . . . . . . . . . . . . . . . . . . . . 191

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

Preliminary operations prior to adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192

Adjusting the inversion parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194

Accessing adjustment parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195

Adjusting the encoder offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

Adjusting resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

description of loop control parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200

Adjusting Loop Control Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203

Description of movement control parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 206

Description of Command Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208

Description of stop control parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

Adjustment of monitoring parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212

Description of manual mode parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213

Parameters Associated with Master / Slave Axes. . . . . . . . . . . . . . . . . . . . . . . 214

Confirming adjustment parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216

Saving / Restoring adjustment parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217

Reconfiguring in online mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218

7

8

Chapter 7

Debugging an independent axis control program . . . . . . . . 221

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221

Debugging principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222

The debug screen user interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223

Description of debug screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225

Measurement Mode (Off). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227

Loop control disabled mode (Dir Drive) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229

Manual mode (Manu). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232

Automatic mode (Auto) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236

Channel diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240

Archiving and documentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241

Chapter 8

Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243

Human-machine interface design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243

Chapter 9

Diagnostics and maintenance . . . . . . . . . . . . . . . . . . . . . . . . 245

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245

Fault and command executability monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . 246

Diagnostics help. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247

Chapter 10

Additional Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249

Dimension learning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249

Chapter 11

Memory aids . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253

General module data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254

Internal command data (implicit exchanges) . . . . . . . . . . . . . . . . . . . . . . . . . . . 255

Internal Status Data (Implicit Exchanges) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257

Internal status data (explicit exchanges) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259

Adjustment parameters (explicit exchanges) . . . . . . . . . . . . . . . . . . . . . . . . . . . 261

Exchanges between Processor and Axis Control Module . . . . . . . . . . . . . . . . . 263

TSX CAY Module Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265

CMD_FLT code error list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266

Part III

Interpolated axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271

Chapter 12

Introduction to Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . 273

General Information on the Interpolating Function. . . . . . . . . . . . . . . . . . . . . . . 273

Chapter 13

Interpolation configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 277

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277

Accessing the interpolation parameters configuration screen . . . . . . . . . . . . . . 278

Entering interpolation parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279

Chapter 14

Programming interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . 281

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281

Programming interpolated movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282

Entering XMOVE function parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284

Description of XMOVE function parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . 285

Instruction codes for XMOVE function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289

Description of elementary movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291

Programming a Move to Non-stop Position . . . . . . . . . . . . . . . . . . . . . . . . . . . 292

Programming a Move to Position with Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . 293

Programming a movement until event detection . . . . . . . . . . . . . . . . . . . . . . . . 294

Programming an await event. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296

Programming PREF1 register intialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297

General conditions of acceptance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298

Sequencing movement commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299

Concurrent XMOVE and SMOVE functions . . . . . . . . . . . . . . . . . . . . . . . . . . 304

Interpolator channel automatic mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305

Event processing with interpolated axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306

Fault management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307

Description of command refused faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310

Managing measurement (OFF) mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311

Chapter 15

Adjusting interpolated axes. . . . . . . . . . . . . . . . . . . . . . . . . . . 313

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313

Accessing the interpolation adjustment parameters . . . . . . . . . . . . . . . . . . . . . 314

Acceleration profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315

Crossing Points. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316

Chapter 16

Debugging an independent axis control program. . . . . . . . . 323

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323

Principles of debugging an interpolated axis control program. . . . . . . . . . . . . . 324

Measurement mode (Off) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325

Automatic mode (Auto) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328

Interpolation diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331

Chapter 17

Interpolation memory aids. . . . . . . . . . . . . . . . . . . . . . . . . . . . 333

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333

Programming the XMOVE Interpolation Function . . . . . . . . . . . . . . . . . . . . . . . 334

Interpolator data (implicit exchanges) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336

Adjustment parameters for interpolator (explicit exchanges) . . . . . . . . . . . . . . 338

Internal status data for the interpolator(explicit exchanges) . . . . . . . . . . . . . . . 339

CMD_FLT code error list for interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341

Part IV

"Cutting On the Fly" Utility . . . . . . . . . . . . . . . . . . . . . . 343

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343

Chapter 18

Introduction to the "Cutting On the Fly" Utility . . . . . . . . . . . 345

Introduction to the "Cutting On the Fly" Utility . . . . . . . . . . . . . . . . . . . . . . . . . . 345

9

10

Chapter 19

Configuring the "Cutting On the Fly" Utility . . . . . . . . . . . . . 347

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347

How to Access the Configuration Parameters for the "Cutting On the Fly" Utility.

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348

Description of Configuration Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350

Chapter 20

Programming the "Cutting On the Fly" Utility. . . . . . . . . . . . 353

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354

Programming the "Cutting On the Fly" Utility: SMOVE function . . . . . . . . . . . . 355

Chapter 21

Adjusting the "Cutting On the Fly" Utility . . . . . . . . . . . . . . . 359

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359

How to Access the Adjustment Screen for the "Cutting On the Fly" Utility . . . . 360

Description of Adjustment Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362

Applications to Various Cut Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364

Memorandum for the "Cutting On the Fly" Utility . . . . . . . . . . . . . . . . . . . . . . . . 366

Glossary

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369

Index

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375

About the book

At a Glance

Document Scope This manual describes the software installation of axis control tasks for Premium

PLCs from PL7 software.

Validity Note The update of this documentation takes PL7 V4.5 functionality into account.

Nevertheless, it can be used to install previous versions of PL7.

Related

Documents

Title of Documentation

Hardware installation manual

Reference Number

TSX DM 57 xxE

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

TLX DS 57 PL7xx

11

About the book

12

TLX DS 57 PL7xx

Control of servo drive axes in

Premium PLCs

I

Introduction

Subject of this part

What’s in this part?

This part gives a concise introduction to the servo drive axis control range and describes the methodology for setting up the independent axes or interpolated axes.

This Part contains the following Chapters:

Chapter

1

2

3

Chaptername

General introduction

Set-up methodology

Introductory example

Page

15

29

33

13

TLX DS 57 PL7xx

Control of servo drive axes

14

TLX DS 57 PL7xx

General introduction

1

Introduction

Subject of this section

What’s in this

Chapter?

This section gives a concise introduction to the servo drive axis control range for

Premium PLCs, as well as the functions provided by the TSX CAY modules.

This Chapter contains the following Maps:

Topic

General Compatibility

Introduction to the Motor Operator Axis Control Range

Functions Provided by the Axis Control Modules

Properties of Axis Control Modules

Limitations of CAY Module

Absolute Encoders

Page

16

18

22

26

27

28

15

TLX DS 57 PL7xx

General introduction

General Compatibility

Compatibility of

TSX CAY

Modules,

Processors and

PL7

Implementing a movement command application requires the use of a PLC (and therefore a processor), one or more TSX CAY modules and the PL7 Pro or PL7

Junior programming software.

All these devices exist in different versions (on the market or in storage), corresponding to developments linked to the addition of new functions. All software and hardware device associations are not possible since there are incompati-

bilities or restrictions linked to certain configurations (see following tables):

Processors TSX P57 10 / 20

(V 1.5 / V. 1.6)

TSX CAY

TSX CAY 21 / 41 (V1.0)

TSX CAY 21 / 41 (V1.5)

TSX CAY 21 / 41 (V1.9)

TSX CAY 22 / 42 / 33

Yes

Yes

Yes

No

TSX P57 **2

TPMX P57 **2

TPCX 57 **12

(V 3.0)

Yes

Yes

Yes

Yes

TSX P57 **2

TPMX P57 **2

TPCX 57 **12

(V 3.3)

Yes

Yes

Yes

Yes

Compatibility between PL7

Software and

Processors

Processors TSX P 57 10 / 20

(V 1.5 / V 1.6)

PL7

PL7 Junior V1.5

PL7 Junior V1.7

PL7 Junior / Pro V3.0

PL7 Junior / Pro V3.1

PL7 Junior / Pro V3.3

Yes

Yes

Yes

Yes

Yes

(*) Compatible with certain restrictions

TSX P57 **2

TPMX P57 **2

TPCX 57 **12

(V 3.0)

No

No

Yes

Yes

Yes

TSX P57 **2

TPMX P57 **2

TPCX 57 **12

(V 3.3)

No

No

Yes (*)

Yes (*)

Yes

16

TLX DS 57 PL7xx

General introduction

Compatibility of

TSX CAY

Modules and PL7

Software

TSX CAY modules

PL7

PL7 Junior V1.5

PL7 Junior V1.7

PL7 Junior / Pro V3.0

PL7 Junior / Pro V3.1

PL7 Junior / Pro V3.3

PL7 Junior / Pro V 4.1

Yes

Yes

Yes

Yes

TSX CAY 21

TSX CAY 41

(V 1.0)

Yes

Yes

Yes

Yes

Yes

Yes

TSX CAY 21

TSX CAY 41

(V 1.7)

Yes (*)

Yes

Yes

Yes

Yes

Yes

TSX CAY 21

TSX CAY 41

(V 1.9)

Yes (*)

Yes (*)

TSX CAY 22

TSX CAY 42

TSX CAY 33

No

No

No

No

Yes

Yes (**)

(*) Compatible with certain restrictions (see Functional Limitations of the TSX CAY

*1 Module, p. 27)

(*) Compatible with certain conditions (see Functional Limitations of the TSX CAY

22 Module, p. 27)

TLX DS 57 PL7xx

17

General introduction

Introduction to the Motor Operator Axis Control Range

Introduction Below is an overview of a motor operator axis control architecture:

Premium

Variable speed controller

Axis control range

Motor

Tachometer

TSX CAY

PL7 Junior/Pro

Encoder l l l

The motor operator axis control range for Premium PLCs is made up of 5 modules:

TSX CAY 21 (2 independent axes with limited run-time only),

TSX CAY 41 (4 independent axes with limited run-time only),

TSX CAY 22 (2 independent and/or master/slave axes with limited and/or infinite run-time), l TSX CAY 42 (4 independent and/or master/slave axes with limited and/or infinite run-time), l TSX CAY 33 (3 independent and/or interpolated axes with limited and/or infinite run-time),

The PL7 software includes as standard the application-specific movement function for programming these axis control modules.

The basic movements are controlled via the machine’s principal sequential command program, but are made and checked by the TSX CAY modules, which ensure the position of the moving part is controlled.

The position of each channel is measured by either an incremental encoder or by an absolute encoder. The analog output is used to control a variable speed controller.

18

TLX DS 57 PL7xx

TSX Modules

CAY 21 / 41

General introduction

These modules (2 and 4 axes respectively) are used to control the movement of independent axes on machines with limited run-time. They are also used for master

/ slave applications.

Introduction

The following diagram illustrates the movement of an axis between XA and XB on a machine with limited run-time (lower and upper limits):

Lower limit X

A

X

B

Upper limit

The following diagram illustrates the movements of a master axis between X0A and X0B and those of a slave axis between X1A and X1B:

Master axis

X0

A Slave axis

X0

B

X1

A

X1

Master position / slave position = Constant

B

TLX DS 57 PL7xx

19

General introduction

TSX Modules

CAY 22 / 42

These modules (2 and 4 axes respectively) are used to control the movement of independent axes on machines with infinite run-time (usually rotational axes or similar). This type of application creates a measurement variation area called the

"Modulo". These modules are also used to perform master-slave object tracking applications.

Introduction

The following diagram illustrates the movement of an axis on a machine with unlimited runtime:

Conveyor belt with infinite axis

The following diagram provides an outline of the Modulo:

Measurement

0

The following diagram illustrates a master-slave object tracking application: t

Master axis

(Conveyor transporter)

Slave axis (tool): applies glue, etc.

20

TLX DS 57 PL7xx

TSX

Module CAY 33

General introduction

This module (3 axes) is used to control the movement of axes, which are linearly interpolated on Cartesian machines with limited run-time. It is used to follow trajectories, either on a plane (2 axes), or in space (3 axes).

Introduction

The following diagram provides an outline of an interpolation of 2 axes:

Y

Yb

B

Vy

V

Ya

A

Xa

Vx

Vx Xb

X

The TSX CAY 33 module can be used in the following configurations: l l l

3 interpolated axes,

2 interpolated axes and one independent axis,

3 independent axes (in the event of use without interpolation).

This module does not provide the necessary circular interpolation to process bypass applications.

TLX DS 57 PL7xx

21

General introduction

Functions Provided by the Axis Control Modules

General The axis control modules provide application inputs and outputs for each of the axes, which are used to implement the different functions.

The following diagram shows the inputs/outputs associated with one channel:

Processor TSX CAY module Application

Configuration

+ adjust

Configuration parameters

%KW, %MW

Adjust

Control loop

Encoder input

Variable speed controlle reference output

SMOVE function

%Q, %QW

%I, %IW

Setpoint

Processing

Auxiliary

Inputs /

Outputs processing

Reference point cam in

Event input

Re-calibration input

Emergency stop inpu

Variable speed contro fault input

Speed controller enable relay output

Auxiliary output

22

TLX DS 57 PL7xx

General introduction

Application inputs/outputs l l

For each of the axes, the axis control modules offer:

In inputs: l One input to acquire position measurements: l either via type RS 485 incremental encoder (maximum frequency 500 KHz without multiplication or 1 MHz multiplied by 4). The module provides the l choice of either multiplying by one or by four, or by absolute encoder, for up to 25 bits of data, with serial link and transmission according to SSI protocol (200 KHz clock frequency).

l One input serving as a reference point cam (if an incremental encoder is selected), l l l l

One event input,

One emergency stop input,

One re-calibration on-the-fly input,

One drive fault input.

In outputs: l One 10 V analog output isolated from the logic part of the module. This 13 bit + sign resolution output is used to control a variable speed controller, associated with a continuous current motor, on autosynchronous or asynchronous auto-pilot,

A relay output to enable the variable speed controller,

A static auxiliary output.

Programming a movement

In PL7 language, each independent axis movement is described by a SMOVE movement command function. Movements of interpolated axes are described by an

XMOVE command (linear interpolation of TSX CAY 33 module). From this SMOVE or XMOVE command and from the position of the moving part, module TSX CAY calculates the position/speed setpoint.

Configuration and adjustment parameters

These parameters are used to define the usage characteristics, limits, resolution, control dimensions, etc.

Position control loop

The loop controller is of proportional type with feed forward, so as to reduce following errors.

For each axis, the user can choose between 3 types of acceleration law: rectangular, trapezoid or triangular.

TLX DS 57 PL7xx

23

General introduction

TSX CAY module functions

The functions offered by the axis control modules are as follows: l Position slave movement of another axis: one or more axes can be controlled l by a master axis. The movements of the slave axis thus follow all the movements of the master axis,

Slave movement of a periodic setpoint: periodically, the position setpoint can l be sent directly by the PLC processor,

Re-calibration on-the-fly: this function (used with an incremental encoder) is used to monitor the position of the moving part and to recalibrate the measurement when the re-calibration input is activated. This function can be used for movements with slip, so that the position measurement is periodically recalibrated.

l l l

Event processing: events detected by the module can be used to activate an event task in the sequential program,

Feed hold: this function is used to momentarily stop a movement in progress

(e.g. to synchronize the axes),

Deferred pause: this function is used to momentarily stop a machine cycle without causing disturbance to it, l l l l

Step by step mode: this mode is used to carry out a sequence of movements stopping after each elementary instruction,

Movement monitoring: this function is used to detect any abnormal process operations (such as a faulty encoder), which do not change the position value even when the moving part moves,

Infinite axis function: (only available on the TSX CAY •2 modules), this function is used to process unlimited-type axes ("conveyor belt" applications). The axis defines a movement, which is always performed in the same direction.

It is also used for two other types of application: l the drift function, l synchronized movement of infinite axes.

Linear interpolation function (only available on the TSX CAY 33 module). This function is used to associate 2 or 3 axes with the application-specific Interpolation function. It is used to access certain functional characteristics of numerical command machines.

Note:On the TSX CAY 33 module, the 3 physical axes (X, Y, Z) use channels 0,

1 and 2. Channel 3 is dedicated to the linear interpolation function.

24

TLX DS 57 PL7xx

General introduction

Typical TSX CAY module applications

The TSX CAY axis control modules enable the following applications:

Modules

2/3 axes interpolation

Limited axes

Infinite axes

Slave axes (static ratio)

Slave axes (dynamic ratio)

Integral gain (correction of offsets in the kinematic string)

Cutting on-the-fly

CAY 21

No

Yes

No

Yes

No

No

No

CAY 41

No

Yes

No

Yes

No

No

No

CAY 22

No

Yes

Yes

No

Yes

Yes

Yes

CAY 42

No

Yes

Yes

No

Yes

Yes

No

CAY 33

Yes

Yes

Yes

No

No

Yes

No

TLX DS 57 PL7xx

25

General introduction

Properties of Axis Control Modules

Axis Control

Module Memory

Consumption

TSX CAY *1 (per channel)

TSX CAY *2 (per channel)

TSX CAY33 channel 3

33

CAY33

Approximate sizes are given in words.

Memory bits Data zone

78 520

78

78

376

264

Program zone

140

232

170

2130

3600

3600

26

TLX DS 57 PL7xx

General introduction

Limitations of CAY Module

Functional

Limitations of the

TSX CAY *1

Module

There are several versions of the TSX CAY *1 module. Certain functions are only l l available from V.1.7 onwards and can only be implemented with PL7 Pro or PL7

Junior software l version ≥ V1,7

G32 and G30 code,

: l sequence control, l l step by step mode, referencing and reference cancellation with an absolute encoder in direct offset, l absolute encoder in assisted offset.

The following function is only supported by TSX CAY *1 modules V. 1.9 or above and can only be implemented using PL7 Pro/Junior version

≥

V3,0

.

l movement monitoring (VLIM).

The module version is displayed: on the label found on the side of the module, in the module zone of the debugging screen in offline mode.

Functional

Limitations of the

TSX CAY 22

Module

The "cutting on the fly" utility is only available with the CAY22 modules version 2.0 and can only be implemented with the PL7 Pro software V 4.0 or above.

TLX DS 57 PL7xx

27

General introduction

Absolute Encoders

Brands

Codechamp

IVO

Hengstler

Steqmann

IDEACOD

TR Electronic

Schneider

Electric

The following encoders have been tested by Schneider Automation.

- COM 2G7M1212A

11-30 volts, Gray, 0 header bits, 24 data bits, 0 status bits, even parity.

- GM400 0 10 11 01

24 volts, Gray, 0 header bits, 25 data bits, 0 status bits, no parity.

- GM401 1 30R20 20 00

24 volts, Gray, 0 header bits, 25 data bits, 1 status bits, even parity.

- RA58-M/1212ES.41TBSG

11-30 volts, Gray, 0 header bits, 24 data bits, 1 status bits, no parity.

- AG661 01

10-30 volts, Gray, 0 header bits, 24 data bits, 0 status bits, no parity.

- SHM506S 428R/4096/8192/26

11-30 volts, Gray, 25 data bits, 0 status bits, no parity.

- CE65M

11-27 volts, Gray, 0 header bits, 24 data bits, 1 status bits, no parity.

- Xcc-3506PS84SG

11-30 volts, Gray, 0 header bits, 25 data bits, 1 status bits, no parity.

28

TLX DS 57 PL7xx

Set-up methodology

2

Introduction

Subject of this section

What’s in this

Chapter?

This section describes the overall methodology for setting up an independent axis movement or interpolated axes movements.

This Chapter contains the following Maps:

Topic

Methodology for Implementing an Independent Axis

Set-up methodology for interpolation

On-the-fly Implementation Methodology

Page

30

31

32

29

TLX DS 57 PL7xx

Methodology

Methodology for Implementing an Independent Axis

Diagram of implementation methodology for an independent axis

The following flowchart outlines the different phases for setting up an independent axis. In order to fully understand these different phases, please also refer to the introductory example, which accompanies this flowchart.

In local mode

1 Declaring module in PLC configuration

Configuration editor

Design

In offline mode

5

Adjust and

Debug

6

2

Axis parameter configuration

3

Programming movements (2)

Configuration editor

Configuration and adjust modes

Program editor

(1)

4

Transferring application into

PLC memory

Adjusting axis parameters

Test and debug

Configuration editor

Adjust mode

Configuration editor

Debugging mode

7

File editing Documentation editor

In offline mode

8

Operation

Operation CCX 17

(1) If before the programming phase, you want to move the moving part on the various axes in manual mode, step 3 can be missed out. However, steps 1, 2, 4, 5 and 6 are compulsory.

(2) The programming phase can be preceded by a variable pre-symbolization phase, using the variable editor. Pre-symbolization is used to automatically generate axes control module symbols.

30

TLX DS 57 PL7xx

Methodology

Set-up methodology for interpolation

Diagram of interpolation setup methodology

The following flowchart outlines the different phases for setting up interpolated axes. In order to better understand these different phases, take a look at the introductory example, which accompanies this flowchart.

Offline mode 1

Declaring module in PLC configuration

Configuration editor

Configuration editor

2

Individual axis configuration

Design

3

Interpolating channel configuration

4

Programming movements :

SMOVE : independent axis/es

XMOVE : interpolating channel

Configuration editor

Program editor

5

Transferring application into

PLC memory

Online mode 6

Adjusting independent axis parameters

Adjust mode

Adjust and

Debug

7

8

Adjusting interpolation parameters

Test and debug of independent axes

Adjust mode

Debugging mode

9

Test and debug of interpolation channel

Debugging mode

10 File edit Documentation editor

Online mode

11

Operation

TLX DS 57 PL7xx

31

Methodology

On-the-fly Implementation Methodology

Synoptic of onthe-fly implementation methodology

The following flowchart outlines the different phases for implementing interpolated axes.

In local mode

1

Declaring module in PLC configuration

Configuration editor

Design

2

3

4

Configuring channel 0 in infinite mode

Configuring channel 1 and

Cutting on-the-fly utility

Programming SMOVE movements (1)

Configuration editor

Configuration and adjust modes

Program editor

5

Transferring application into

PLC memory

In offline mode

6 Adjusting axis parameters Configuration editor

Adjust mode

7

Adjusting Cutting on-the-fly utility parameters

Adjust and

Debug

8

Test and debug of channel 1

9

Testing and debugging a cutting cycle

Configuration editor

Debugging mode

File editing Documentation editor 10

In offline mode

11 Operation

(1) The programming phase can be preceded by a variable pre-symbolization phase, using the variable editor. Pre-symbolization is used to automatically generate axes control module symbols.

However, double use objects are viewed with their old meaning and the new objects are not pre-symbolized.

32

TLX DS 57 PL7xx

Introductory example

3

Introduction

Subject of this section

What’s in this

Chapter?

This section provides an example of how to set up a TSX CAY axis control application. This example is instructive and covers all the phases necessary for setting up independent or interpolated axes.

This Chapter contains the following Maps:

Topic

Description of the example

Prerequisites and methodology

TSX CAY module configuration

Page

34

38

39

Interpolator configuration

44

Symbolization 46

Programming the preliminary processing

Programming the Grafcet

51

55

Transition programming

Action programming

Programming the post-processing

Program transfer

Parameter adjustment

Using manual mode

Debugging

Archiving

62

64

66

67

56

58

60

61

TLX DS 57 PL7xx

33

Introductory example

Description of the example

Introduction

Transfer device

The following example covers all the phases for setting up a TSX CAY axes control application. It complements the set-up methodologies.

A transfer device evacuates the parts during machining output. This device consists of a grab which can move through the air along a plane (X, Y axes) parallel to the ground.

As soon as a part appears on evacuation conveyor A, the grab automatically retrieves it and deposits it on conveyor B or C depending on the type of part. The grab then returns to the waiting position until a new machined part needing to be picked up is detected.

The following figure illustrates this transfer device:

C1

Machining tool

C2

C3

C4

Conveyor B

Conveyor A

Conveyor C

34

TLX DS 57 PL7xx

Inputs/outputs

Introductory example

The inputs / outputs are as follows:

I/O

C1

C2

C3

C4

Description

Machined part detection cell

Part type identification sensor.

Grab open / grab closed detection sensor.

Part edge detection cell (located in the grab), connected to the module’s event input.

ENC0

ENC1

Incremental encoder in the X axis position.

Incremental encoder in the Y axis position.

O/C grab Grab Open / Close control.

Application

Grafcet

The application Grafcet is as follows:

0

1

2

3

4

5

6

Reference point

Referenced axes

Move to wait position

Detection of a machined part

Movement towards conveyor A

Edge of part detected and grabber in stop position

Grabber closed

Type 1 part and grabber closed

Moving on conveyor B

Grabber in stop position

8

Type 2 part and grabber closed

Moving on conveyor C

Grabber in stop position

Grabber opening

Grabber open

TLX DS 57 PL7xx

35

Introductory example

Trajectory description

The following diagram shows the trajectory of the grab:

Y_LMAX

Conveyor A

3

2

5

Wait position

7

4

Conveyor B

6

Conveyor C

1

X_LMIN

X_LMAX

Y_LMIN

1 Reference point at speed Vp0,

2 Movement at speed Vret to waiting position (Xatt, Yatt) with stop,

3 Movement towards conveyor A (XA, YA) at speed VA, until the machined part is detected,

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

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

5, 7 Movement to waiting position (Xatt, Yatt) at speed Vret, with stop.

36

TLX DS 57 PL7xx

Operator dialogue front panel

Introductory example

The following controls grouped together on a front panel, are used to control the moving part manually when the installation is faulty. The controls and the LEDs are managed by one discrete input module and one discrete output module.

Auto X Y Error

Manu Choose axis

Start cycle

Reference point

Acq.

Error

Stop cycle Reverse Forward

Emergency stop

Open grabber

Close grabber

Auto / Manu: Operating mode selection switch.

Start cycle: Executes the automatic cycle.

Stop cycle: Stops the automatic cycle.

X / Y axis selection: For selection of the axis to be controlled in manual mode.

Reference point: Manual reference point on the selected axis.

Forward / Reverse: Control for manual movement of the selected axis in a positive or negative direction.

Error: LED for all hardware and application errors.

Acq. Error: Fault acknowledgement control.

Emergency stop: Immediate stop of the moving part whatever the selected mode.

Open grab: Control for opening grab.

Close grab: Control for closing grab.

TLX DS 57 PL7xx

37

Introductory example

Prerequisites and methodology

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

PL7 software is installed,

The hardware has been installed: the modules, variable speed controllers and encoders controlling the 2 axes are connected.

Set-up using independent axes l l l l l l l

In order to set up this application, the following operations must be carried out :

Declare the PLC configuration in PL7,

Enter the configuration parameters of the axes,

Enter the application symbols,

Program the application,

Adjust the axis control parameters,

Debug the program,

File the application.

Set-up using interpolated axes

With a TSX CAY 33 module, it is possible to use 2 interpolated axes to control the grab’s movement through the plane (X,Y). In order to set up this application the same operations must be carried out as for 2 independent axes, with the addition of l l l some operations specific to interpolation:

Configure the interpolator (channel 3), in addition to the independent axes,

Enter the symbols connected with interpolation,

Program the application by using the XMOVE function (not SMOVE)

38

TLX DS 57 PL7xx

Introductory example

TSX CAY module configuration

Software declaration of the

PLC configuration

Start the PL7 software, select File → New, choose a Premium processor and select the Grafcet option.

From the Application browser, access the configuration editor in the following manner:

Step

1

2

3

Action

Open the Station file (either by double clicking on the icon or clicking on its link).

Open the Configuration file (either by double clicking on the icon or clicking on its link).

Double click on the Hardware configuration icon.

Each component part of the PLC configuration must then be selected. The following choices have been made in this application: l l l l l l

Rack 0 and Rack 1: TSX RKY 8E, processor: TSX P57 302, supply modules: TSX PSY 2600 for Rack 0 and TSX PSY 5500 for Rack 1,

32 input module: TSX DEY 32D2K in position 3 of Rack 0,

32 output module: TSX DSY 32T2K in position 4 of Rack 0,

Axis control module: TSX CAY 21 in position 3 of Rack 1,

Module configuration screen

Configuration

TSX 57302 V3.3 ...

XMWI

XTI..

0

0

0

2

6

P

S

Y

0

4

0

5

7

2

T

S

X

2 3 4

D

E

Y

3

2

D

2

K

5

D

S

Y

3

2

T

2

K

6

1

0

0

5

5

P

S

Y

2 3

2

1

C

A

Y

4 5 6

2

TLX DS 57 PL7xx

39

Introductory example

Entry of the axis configuration parameters,

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

Step Action

1 Select position 3 of Rack 1, then execute the commandEdit

→

Open the module

(or double click on the selected module).

2 Configure the parameters of channel 0. To do this: l l l select the Positioning function, select the MAST task, enter the parameters as shown below:

Channel 0 configuration screen

Symbole :

Choose Axis Fonction :

Channel 0 Position controlt

Task :

MAST

Unit

Length

Initial resolution

Distance

Type codeur

Incremental x1 um

Binary

Nb. of header:

Nb of data bits

Nb of status bits

SSI frame :

Gray

8

16

8

V

2 000

Absolute x4

Speed mm/min Limite Sup.

Limite Inf.

Nb. points 500

Inversion

Mesure Sortie

Max. Limit

Max. setpoint

Sequence control

Slave Axis 0

Setpoint

Activation

Accélération

Max

Vmax/

Ratio 0

Measure

500 000 um

0

-5 000

5 400

9 000

200 um mm/min mV ms

Event

EVT

Event input

Rising edge and PRef1 default processing

Reference point

Short Cam/Zero Marker/- Direction

Recalibration

Recalibration function missing ?

3 Validate your entries using the Edit

→

Validate command or by clicking on the icon

40

TLX DS 57 PL7xx

TLX DS 57 PL7xx

Introductory example

Step Action

4 Configure the parameters of channel 1 then validate your entries, by following the same procedure as for channel 0:

Channel 1 configuration screen

Symbole :

Choose Axis Fonction :

Channel 1 Position control

Task :

MAST CH1 DIAG ...

Unit

Length um

Initial resolution

Distance

V Speed mm/min Hi Limit

Encoder type

Incremental

Direct off

Binary

Nb. of header:

Nb of data bits

Nbof status bits

Parity

SSI Frame : x24x I

4 000

Absolute

Assisted off

Gray

8

24

8

Lo Limit

Nb. points 4000

Max. Limit

Inversion

Mesure Sortie

Max. setpoint

Sequence control

Slave Axis 0

Setpoint

Activation

Accélération

Max

Vmax/

Ratio 0

Measure

Event input

Even

Odd

Rising edge and PRef1 default processing

Reference point

Without reference point

Recalibration

Recalibration function missing

900 000 um

0

0

5 400

9 000

300 um mm/min mV ms

Event

EVT

?

?

5 In the main screen of the configuration editor, validate the configuration using the

Edit

→

Validate command or by clicking on the icon

41

Introductory example

Channel 0 configuration parameters

The following table provides a list of the parameters which must be entered for channel 0 :

Comment Parameter

Units

Units

Designation

Physical length unit

Physical speed unit

Value mm mm/min automatically deduced

Initial resolution

Initial resolution

Encoder type

Encoder type

Encoder type

Encoder type

Encoder type

Encoder type

Encoder type

Max. Setpoint.

Speed

Distance

No. of points

Offset

Code

No. of header bits

No. of data bits

No. of status bits

Parity

Maximum speed of the moving part

4000

4000

Absolute

Direct

Binary

0

24

0

Odd

9000 mV

5400

Max. acceleration.

Upper limit

Lower limit

Event

Reference point

Upper axis limit

Lower axis limit

300 ms

900000

0

Rising edge and PREF1

Without reference point

42

TLX DS 57 PL7xx

Channel 1 configuration parameters

Introductory example

The following table provides a list of the parameters which must be entered for channel 1 :

Comment Parameter

Units

Units

Designation

Physical length unit

Physical speed unit

Value mm mm/min Automatically deduced

Initial resolution

Initial resolution

Encoder type

Encoder type

Encoder type

Max. Setpoint.

Speed

Distance

No. of points

Code

Maximum speed of the moving part

2000

500

Incremental x 1

Binary

9000 mV

5400

Default choice

Default choice

Max. acceleration.

Upper limit

Lower limit

Event

Reference point

Upper axis limit

Lower axis limit

200 ms

500000

-5000

Rising edge and PREF1

Long cam

Zero Marker

- Direction

TLX DS 57 PL7xx

43

Introductory example

Interpolator configuration

Introduction

Enter the configuration parameters for axis 3

2 interpolated axes can be used to control the grab.In this case: l l l

Use a TSX CAY 33 module as the axis control module,

Configure the 0 and 1 axes the same way as with independent axes,

Configure channel 3, which does not correspond to any physical axis, but which is used to interpolate between axes 0 and 1.

Enter the configuration parameters for axis 3 as follows:

Step

1

Action

Configure the parameters of channel 3. To do this: l l l select the Interpolation function, select the MAST task, enter the parameters as shown below:

Channel 3 configuration screen

TSX CAY 33 [RACK2 POSITION 2]

Configuration

Designation : 3 CHAN. AXIS CONT. MOD

Symbol : Interpo

Choose axis: Function :

Chan. 3 Interpolation

Channel functions

0 X 1 Y 2 3 I

Task :

MAST

Size

2 Axes

Event

EVT 19

3 Axes

Stop axes on fault

Interpolated All

Stop function

XMove Auto mode General

Special

Functions...

2 Confirm your entries with the Edit

→

Confirm command or by clicking on the icon

3 In the main screen of the configuration editor, validate the configuration using the Edit

→

Confirm command or by clicking on the icon

44

TLX DS 57 PL7xx

Channel 3 configuration parameters

Introductory example

The following table provides a list of the parameters which must be entered for channel 3 :

Parameter

Dimension

Stop Function

Stop axes on fault

Designation

Number of interpolated axes

Effect of the STOP command

Consequence of a fault

Value

2

XMOVE

All

TLX DS 57 PL7xx

45

Introductory example

Symbolization

Symbol entry Symbol entry is accessed by double clicking successively on the Variables and I/O icons in the Application browser.

Symbol entry screen

File Edit Services

PL7 Junior : CINZIA2 - [Variables]

View Application PLC Debug Options Window ?

Parameters I/O Address

Address

%I3.10

%I3.5

%I3.12

%I3.9

%I3.3

%I3.8

%I3.0

%I3.1

%I3.2

Type

EBOOL Ack_flt

EBOOL Stop_ cycle

EBOOL Emg_stop

EBOOL Reverse

EBOOL Auto_man

EBOOL Forward

EBOOL Sensor_1

EBOOL Sensor_2

EBOOL Sensor_3

Symbol

%I3.4

%I3.14

%I3.13

%I3.7

EBOOL Start_cycle

EBOOL C_clamp

EBOOL O_clamp

EBOOL Rp_man

%I36

%CH3MOD

EBOOL Select__x_y

CH

%I3.MOD.ERR

BOOL

%MW3.MOD

WORD

%MW3.MOD.1

WORD

%MW3.MOD.2

WORD

%CH3.0

%I3.0.ERR

%MW3.0

%MW3.0.1

CH

BOOL

WORD

WORD

Read LOCAL U:SYS

3 Entry field

Comment

Fault acknowledgement

Pushbutton to stop automatic cycle

Emergency stop

Move moving part in negative direction switch for selecting AUTOMATIC or MANU

Move moving part in positive direction on the selec cell for detecting the presence of a manufactured sensor for identifying the type of item sensor for detecting clamp open/clamp closed

Pushbutton to start automatic cycle

Pushbutton to close the clamp

Pushbutton to open the clamp

Manual reference point on the selected axis selection of axis to be controlled manually

MODIF

Internal variable symbols

The following internal variables are symbolized:

Address Symbol

%M0 Cycle

Comment

Condition of the machine in operating mode

%MD50 X_ATTENTE Waiting position (X axis)

%MD52 Y_ATTENTE Waiting position (Y axis)

%MD54 X_b

%MD56 y_b

%MD58 X_c

%MD60 Y_c

Position of Conveyor B (X axis)

Position of Conveyor B (Y axis)

Position of Conveyor C (X axis)

Position of Conveyor C (Y axis)

46

TLX DS 57 PL7xx

Introductory example

Discrete input module symbols

The discrete input module is positioned in slot 3 of Rack 0. These symbols are as follows:

Address Symbol

%I3.0

Sensor_1

%I3.1

%I3.2

Sensor_2

Sensor_3

%I3.3

%I3.4

%I3.5

I%I3.6

%I3.7

%I3.8

%I3.9

%I3.10

%I3.12

%I3.13

%I3.14

Auto_man

Depart_cycle

ARRET_CYCL

E

Selection_x_y

Comment

Machined part detection cell

Part type identification sensor (0 = type 2, 1 = type 1)

Grab open / grab closed detection sensor

Mode selection switch (0 = Auto, 1 = Manual)

Automatic cycle start button

Automatic cycle stop button

Po_man

Forward

Reverse

ACQ_DEFAUT

S

ARRET_URGE

NCE

Selection of the axis to be controlled in manual mode (1 = X, 0

= Y)

Manual reference point

Moving the moving part in a positive direction

Moving the moving part in a negative direction

Fault acknowledgment

Emergency stop

OUV_PINCE Grab opening button

FERM_PINCE Grab closing button

Discrete output module symbols

The discrete output module is positioned in slot 4 of Rack 0. These symbols are as follows:

Address Symbol

%Q4.0

Grab

%Q4,1 Error

Comment

Grab open/close control (0 = Open, 1 = Close)

Fault signalling

TLX DS 57 PL7xx

47

Introductory example

Axis control module symbols

The axis control module is positioned in slot 3 of Rack 1. These symbols are as follows:

Address

%CH103.0

%I103.0

%I103.0.1

%I103.0.2

%I103.0.3

%I103.0.4

%I103.0.5

%I103.0.6

%I103.0.9

%I103.0.14

%I103.0.20

%I103.0.21

%I103.0.22

%I103.0.23

%I103.0.40

%Q103,0

%Q103.0.1

%Q103.0.2

%Q103.0.3

%Q103.0.4

%Q103.0.5

%Q103.0.6

%Q103.0.8

DIRDRIVE

JOG_P

JOG_M

INC_P

INC_M

SETRP

RP_HERE

ACQ_DEF

%Q103.0.9

%Q103.0.10

ENABLE

EVENT_UC

%MD103.0.41

POSRP

Symbol

AXE_X

NEXT

DONE

ERROR

OK

HARD_ERR_X

AXIS_ERROR_X

REF_CMD_X

AT_POINT

CALIB

MODE_DRIVE_OFF

MODE_DIR_DRIVE

MODE_MANUEL

MODE_AUTO

VARVALID_X

Address

%CH103.1

%I103.1

%I103.1.1

%I103.1.2

%I103.1.3

%I103.1.4

%I103.1.5

%I103.1.6

%I103.1.9

%I103.1.14

%I103.1.20

%I103.1.21

%I103.1.22

%I103.1.23

%I103.1.40

Symbol

AXE_Y

NEXT_Y

DONE_Y

ERROR_Y

OK_Y

HARD_ERR_Y

AXIS_ERROR_Y

REF_CMD_Y

AT_POINT_Y

CALIB_Y

MODE_DRIVE_OFF_Y

MODE_DIR_DRIVE_Y

MODE_MANUEL_Y

MODE_AUTO_Y

VARVALID_Y

%Q103,1

%Q103,1.1

%Q103.1.2

%Q103.1.3

%Q103.1.4

%Q103.1.5

%Q103.1.6

%Q103.1.8

DIRDRIVE_Y

JOG_P_Y

JOG_M_Y

INC_P_Y

INC_M_Y

SETRP_Y

RP_HERE_Y

ACQ_DEF_Y

%Q103.1.9

%Q103.1.10

ENABLE_Y

EVENT_UC_Y

%MD103.1.41

POSRP_Y

48

TLX DS 57 PL7xx

Symbols connected with interpolation

Introductory example

If you use a TSX CAY 33 axis control module with interpolated axes in your application, you also have to define the interpolation channel objects (channel 3).

The TSX CAY 33 module is positioned in slot 3 of Rack 1. These symbols are as follows:

Address

%CH103.3

%I103.3

%I103.3.1

Symbol

Interpo

NEXT_INT

DONE_INT

Address

%I103.3.2

%I103.3.3

%I103.3.9

Symbol

ERROR_INT

OK_INT

AT_POINT_INT

TLX DS 57 PL7xx

49

Introductory example

Internal constants

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

Address Symbol

%KD0 VITESSE_P_O_X

Value

1000

%KD4 1200

%KD6

VITESSE_X_ATTE

NTE

VITESSE_Y_ATTE

NTE

1200

%KD8 1500

%KD10

%KD12

%KD14

VITESSE_POS_A_

X

VITESSE_POS_A_

Y

VITESSE_POS_B_

X

VITESSE_POS_B_

Y

1500

1200

1200

%KD16

%KD18

VITESSE_POS_C_

X

1800

VITESSE_POS_C_

Y

1800

Comment

Reference point speed following the X axis

Speed towards X axis waiting position

Speed towards Y axis waiting position

Speed towards X axis conveyor A position

Speed towards Y axis conveyor A position

Speed towards X axis conveyor B position

Speed towards Y axis conveyor B position

Speed towards X axis conveyor C position

Speed towards Y axis conveyor C position

Where there are 2 interpolated axes, the symbols and values of these constants are as follows:

Address Symbol

%KD0 VITESSE_P_O_X

Value

1000

%KD4 VITESSE_ATTEN

TE

1200

%KD8

%KD12

%KD16

VITESSE_POS_A

VITESSE_POS_B

VITESSE_POS_C

1500

1200

1800

Comment

Reference point speed following the X axis

Speed towards waiting position

Speed towards conveyor A position

Speed towards conveyor B position

Speed towards conveyor C position

50

TLX DS 57 PL7xx

Introductory example

Programming the preliminary processing

Introduction Preliminary processing is used to manage the operating modes: l l l l

On a blocking fault:

The chart is frozen,

The moving part can then be controlled in manual mode, and the fault can be corrected and acknowledged from the front panel, l The chart is reinitialized when the fault has been corrected and acknowledged.

When switching to manual mode:

The chart is frozen,

The chart is reinitialized when automatic mode is reselected.

TLX DS 57 PL7xx

51

Introductory example

Program in contact language

Position setting

%S0

52

%S1

OPERATE

X_attente := 320000

OPERATE

Y_attente := 250000

OPERATE

X_b := 410000

OPERATE

Y_b := 330000

OPERATE

X_c := 360000

OPERATE

Y_c := 100000

Start cycle

%I103.M>>>Depart_>> Arret_>>

P

Cycle

Cycle

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

Depart_>> = Depart_cycle

Arret_>> = Arret_cycle

Enable speed controller

%I103.M>>

ERROR

ERROR_Y

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

Automatic mode selection (when there are 2 independent axes)

Auto_man VARVALID_X

N

OPERATE

%QW103.0 := 3

VARVALID_Y

OPERATE

%QW103.1 := 3

ENABLE

S

ENABLE

S

TLX DS 57 PL7xx

TLX DS 57 PL7xx

Introductory example

Automatic mode selection (when there are 2 interpolated axes)

Auto_man VARVALID_X

N

OPERATE

%QW103.0 := 3

VARVALID_Y

OPERATE

%QW103.1 := 3

VARVALID_X

OPERATE

%QW103.3 := 3

Manual mode selection

Auto_man

P

OPERATE

%QW103.0 := 2

OPERATE

%QW103.1 := 2

Chart freezing on a fault or when switching to manual mode

Mode_>>

Mode_>>

OK

OK_Y

Mode_>> = Mode_auto

Mode_>> = Mode_auto_y

%M1 = Grafcet frozen

%S23

S

%M1

S

53

Introductory example

Chart reinitialization

OK OK_Y Mode_>> Mode_>> %M1

Mode_>> = Mode_auto

Mode_>> = Mode_auto_y

%M1 = Grafcet frozen

Fault signalling

OK

OK_Y

%S6

%S23

R

%S21

S

%M1

R

Error

54

TLX DS 57 PL7xx

Introductory example

Programming the Grafcet

Introduction

Sequential processing

The Grafcet is used to program the sequential processing of the application: automatic cycle processing.

CHART - PAGE 0

0

1

(*Start*)

(*Reference point*)

2

(*Referenced axes*)

(*Move to wait position*)

3

(*Detection of a machined part*)

(*Movement towards conveyor A*)

(*Edge of part detected*)

4 (*Closing the grabber *)

(*Type 1 part and closed grabber*)

(*Movement towards conveyor B*)

(*Moving part in position on conveyor B*)

5

(*Type 2 part and closed grabber*)

(*Movement towards conveyor C*)

(*Moving part in position on conveyor C*)

8

6 (*Opening the grabber *)

(*Grabber open*)

TLX DS 57 PL7xx

55

Introductory example

Transition programming

Introduction

Step 0 -> 1

Step 1 -> 2

Step 2 -> 3

Step 3 -> 4

Step 4 -> 5

Step 4 -> 8

The transitions associated with steps 2, 3, 5 and 8 are different depending on whether the SMOVE (for independent axes) or XMOVE (for interpolated axes) command is used.

! (*Channel X not faulty, open grab, Auto_man switch set to Auto, start cycle, channel Y not faulty and automatic mode active*)

NOT Error AND NOT Capteur_3 AND NOT Auto_man AND Cycle AND NOT

Error_y AND Mode_Auto

! (*Test: X axis done and calibrated*)

Done AND Calib

For 2 independent axes

! (*Moving part in waiting position and part detected on conveyor A*)

Capteur_1 AND Cycle AND Next AND Next_y

For 2 interpolated axes

! (*Moving part in waiting position and part detected on conveyor A*)

Capteur_1 AND Cycle AND Next_INT

For 2 independent axes

! (*Moving part in detected part retrieval position on conveyor A*)

At_point AND Next AND Next_y AND At_point_y

For 2 interpolated axes

! (*Moving part in detected part retrieval position on conveyor A*)

At_point_int AND Next_int

! (*Type 1 part and closed grab*)

Capteur_2 AND Capteur_3

! (*Type 2 part and closed grab*)

NOT Capteur_2 AND Capteur_3

56

TLX DS 57 PL7xx

Step 5 -> 6

Step 8 -> 6

Step 6 -> 2

For 2 independent axes

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

At_point AND Next AND Next_y AND At_point_y

For 2 interpolated axes

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

At_point_int AND Next_int

For 2 independent axes

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

At_point AND Next AND Next_y AND At_point_y

For 2 interpolated axes

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

At_point_int AND Next_int

! (*Grab open*)

NOT Capteur_3 AND Cycle

Introductory example

TLX DS 57 PL7xx

57

Introductory example

Action programming

Introduction

Step 1: How to activate it

Step 2: How to activate it

Step 3: How to activate it

Step 4:

Continuous action

To move the independent axes X and Y (step 2, 3, 5 and 8), the SMOVE command must be used and applied to each of the X and Y axes. To simultaneously move axes X and Y (for interpolated axes) the XMOVE command must be used

(associated with channel 3).

! (*Reference point following the X axis*)

SMOVE Axe_x (1, 90, 14, 0, Vitesse_p_o_x, 16#0000);

For 2 independent axes

! (*Movement into waiting position (Xatt, Yatt)*

SMOVE Axe_x (2, 90, 9, X_attente, Vitesse_x_attente, 16#0000);

SMOVE Axe_y (2, 90, 9, Y_attente, Vitesse_y_attente, 16#0000);

For 2 interpolated axes

(*Movement into waiting position (Xatt, Yatt)*

XMOVE INTERPO (2, 90, 9, 0, X_attente, Y_attente,

Vitesse_attente, 16#0000);

For 2 independent axes

! (*Movement towards conveyor A)*

SMOVE Axe_x (3, 90, 10, 150000, Vitesse_pos_a_x, 16#0000);

SMOVE Axe_y (3, 90, 10, 280000, Vitesse_pos_a_y, 16#0000);

For 2 interpolated axes

(*Movement towards conveyor A*)

XMOVE INTERPO (3, 90, 10, 0, 150000, 280000, 0, Vitesse_pos_a,

16#0000);

! (*Closing the grab *)

SET Grab;

58

TLX DS 57 PL7xx

Step 5: How to activate it

Step 8: How to activate it

Step 6:

Continuous action

Introductory example

For 2 independent axes

! (*Movement towards conveyor B*)

SMOVE Axe_x (4, 90, 9, X_b, Vitesse_pos_b_x, 16#0000);

SMOVE Axe_y (4, 90, 9, Y_b, Vitesse_pos_b_y, 16#0000);

For 2 interpolated axes

! (*Movement towards conveyor B*)

XMOVE INTERPO (4, 90, 9, 0, X_b, Y_b, 0, Vitesse_pos_b,

16#0000);

For 2 independent axes

! (*Movement towards conveyor C*)

SMOVE Axe_x (5, 90, 9, X_c, Vitesse_pos_c_x, 16#0000);

SMOVE Axe_y (5, 90, 9, Y_c, Vitesse_pos_c_y, 16#0000);

For 2 interpolated axes

! (*Movement towards conveyor C*)

XMOVE INTERPO (5, 90, 9, 0, X_c, Y_c, 0, Vitesse_pos_c,

16#0000);

! (*Opening the grab *)

RESET Grab;

TLX DS 57 PL7xx

59

Introductory example

Programming the post-processing

Introduction

MAST - POST

Post-processing is used for programming manual mode management.

! (*Selected mode test*)

IF Mode_auto AND Mode_auto_y AND Config AND Config_y

THEN JUMP %L200;

END_IF;

! (*Selection of axis to be controlled*)

%L100: IF NOT Selection_x_y

THEN JUMP %L200;

END_IF;

! (*X axis manual reference point*)

IF RE Po_man

THEN Posrp := 0; SET Setrp; Fmanu_x := 1000; WRITE_PARAM Axe_x;

END_IF;

IF NOT Po_man

THEN RESET Setrp;

END_IF;

! (*Moving the moving part in X axis + direction*)

Jog_p := Forward;

! (*Moving the moving part in - X axis direction*)

Jog_m := Reverse;

%L200 : IF selection_x_y

THEN JUMP %L300;

END_IF;

! (*Moving the moving part in Y axis + direction*)

Jog_p_y := Forward;

! (*Moving the moving part in Y axis - direction*)

Jog_m_y := Reverse;

! (*Opening the grab *)

%L300: IF Auto_man AND Ouv_pince

THEN RESET Pince;

END_IF;

! (Closing the grab *)

IF Auto_man AND Ferm_pince

THEN SET Pince;

END_IF;

! (*Fault acknowledgement*)

Ack_def := Ack_def_y := Acq_defauts;

%L999:

60

TLX DS 57 PL7xx

Introductory example

Program transfer

Procedure for transferring a program

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

Step

1

2

3

4

Action

Connect the terminal to the PLC using the AP

→

Connectcommand.

Activate the AP

→

Transfercommand.

Select the Console ->PLC option.

Confirm transfer.

TLX DS 57 PL7xx

61

Introductory example

Parameter adjustment

Preliminary operations

Adjustment procedure

Before commencing parameter adjustment, a certain number of preliminary operations (See

Preliminary operations prior to adjustment, p. 192) must first be

carried out.

The following operations must be performed to adjust the parameters:

Step

1

2

Action

Set the PLC to RUN.

Activate the Application

→

Configuration command or click on the icon

3

4

5

Double click on the module which needs adjusting. Position 3 of Rack 1 can also be selected and the Edit

→

Open module command executed.

Activate the View

→

Adjustment command to access the following screen:

Parameter adjustment screen

TSX CAY 21 [RACK 0 POSITION 6]

Adjust

Désignation :2 CHAN. AXIS CONT.MOD

Symbol

Choose axis:

Chan. 1

Function :

Position control

Task :

MAST

Corrected resolution

Distance

Counts

Correction

Encoder offset

10 000

10 000

0 pulses

Position Loop

Gain 1

Gain 2

Threshold 1-2

1 000

1 000

500

/100s

/100s

Offset

Feed forward

/1000 of Smax

Movement Control

Following error 1

Following error 2

1 500

1 500

Command

Software Hi limit

Software Lo limit l l l

Recalibration position 0 Acceleration Smax /

Recalibration deviation 0

% of Smax

Acceleration profile

Overspeed 12

Rectangle

Enter the new parameter values for channel 0:

Target window = 320 microm

Speed (manual mode) = 5400 mm/min

PO Value = 0 microm

150 000

0

100 ms

0

10 mV

%

62

TLX DS 57 PL7xx

TLX DS 57 PL7xx

Step

6

Introductory example

Action

Confirm the entries with the Edit

→

Confirm command or click on the icon

7

8

Select channel 1 in the channel zone then select the new values for this channel: l l l l

Offset encoder = 8388607

Following error 1 and 2 = 8000 microm

Target window = 8000 microm

Speed (manual mode) = 5400 mm/min

Confirm the entries with the Edit

→

Confirm command or click on the icon

9 Save the new values in the PLC processor, using the Services

→

Save

parameters command.

63

Introductory example

Using manual mode

Accessing manual mode

If you would like to move the moving part without first going into the programming phase, use manual mode. In order to do this, access the debug screen, in online mode :

Step

1

2

3

4

Action

Activate the Tools

→

Configuration command.

Select the TSX CAY module to be opened.

Execute the Services

→

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

The following debug screen is then viewed:

TSX CAY 21 [RACK 0 POSITION 6]

Symbol :

Choose Function :

Voie 0 Position control

Auto

Manual

Dir

Drive

Off Global unforcing pls/ DIAG...

Mouvement Speed:

X

Actual

0

Target

F 0

Setpointd 0 mV

0

Following error

0

0

-

AT Point

DONE TH Point

Position

Speed 0%

SMC

Param

1 000

0

/1000

Commands

JOG -

STOP

F8

Axis

OK

Referenced

Stopped

I/O

Came P0

Recalibration

Event cam

Aux

Enable

JOG +

INC INC +

Manual reference point

Forced reference point

Auxiliary output

Faults

Command refused

Hardware

Axis

Ack.

64

TLX DS 57 PL7xx

Moving in manual mode

Introductory example

The following operations must be performed to move the moving part in manual mode:

Step

1

Action

Set the PLC to RUN, using the AP

→

Run command or by clicking on the icon

2

3

4

5

6

7

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

Select manual mode by positioning the mode switch to Manu.

Enable the safety relay of the speed variator by clicking on the Enable button in the Axis zone.

Acknowledge the faults by clicking on the Acq button in the Faults field.

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

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

The moving part’s position is displayed in the X field and speed is displayed in the F field from the Movement / Speed zone.

TLX DS 57 PL7xx

65

Introductory example

Debugging

Debugging procedure

The program can be debugged in the following way:

Step

1

2

3

Action

Set the PLC to RUN.

Display the TSX CAY module Debugging screen.

View the Grafcet screen at the same time in order to follow the progress of sequential processing.

The following screen displays both the debug screen and the Grafcet screen :

File Edit

6

PL7 Junior : CINZIA2

Services View Application PLC Debug Options Window ?

GRAFCET : MAST - CHART

0

(*Start*)

1

2

3

(*Reference point*)

(*Axes referenced*)

(*Move to waiting position>>

(*detection of a manufactur>>

(*Move to conveyor A>>

(*Edge of item detected>>

4

Movement : um / Speed : mm/min

Actual Target Remainder

X

0 0 0

F 0

0

0

G 0

DONE

Direction +

AT Point

TH Point

Pause immédiate

Axis

Configured

OK

Referenced

I/O

RP Cam

Recalibration

Evt Cam

N 0 G9_

Position

Speed 0%

NEXT

Stopped

Validation

Aux

Debug

GO c

Ap c ?

Surv.

Mast Fast

RUN a Non Pr

Start the program by pressing the Start_cycle button on the front panel.

Evt

RUN a

66

TLX DS 57 PL7xx

Introductory example

Archiving

Archiving procedure

When debugging is complete, you may then proceed with archiving.To do this :

Step

1

2

Action

If the parameters have been modified since debugging, activate the Utilities

→

Save parameters command.

l l l l

Transfer the PLC processor application on to the hard drive: activate the PLC -> console option of the AP

→

Transfer command, activate the File

→

Save As command, allocate a name to the application, confirm.

TLX DS 57 PL7xx

67

Introductory example

68

TLX DS 57 PL7xx

Independent axes

II

Introduction

Subject of this part

What’s in this part?

This part introduces the TSX CAY modules and describes how to set up servo drive axis control with these modules.

This Part contains the following Chapters:

Chapter

4

5

6

9

10

7

8

11

Chaptername

Axis control configuration

Programming axis control

Adjusting independent axes

Debugging an independent axis control program

Operation

Diagnostics and maintenance

Additional Functions

Memory aids

Page

71

109

191

221

243

245

249

253

69

TLX DS 57 PL7xx

Independent axes

70

TLX DS 57 PL7xx

Axis control configuration

4

Introduction

Subject of this section

What’s in this

Chapter?

TLX DS 57 PL7 xxE

This section describes the TSX CAY module configuration screens as well as the parameters, which must be defined for the independent axes.

This Chapter contains the following Maps:

Topic

Configuring the axis control modules

Declaring the axis control modules

Accessing the parameter configuration screen

Axis type

Encoder Type

Initial resolution

Measurement units

Hi and Lo Limits

Modulo

Maximum speed

Maximum setpoint

Event

Inversion

Sequence control

Maximum acceleration or deceleration

Slave of the position of axis 0

Event input

Reference point

Recalibration

Masking of faults

92

93

94

95

85

89

90

91

Page

73

74

76

78

79

83

84

96

98

100

105

106

71

Configuration

Topic

Confirming configuration parameters

Page

107

72

TLX DS 57 PL7 xxE

Configuration

Configuring the axis control modules

Introduction

Accessing the

Configuration

Editor

Before creating an application program, the operational context of the physical and software configuration in which it will be executed must be defined: type of

Premium TSX processor, input/output modules used.

Furthermore, when programming axis control modules, the configuration parameters of the axes used must be defined. To do this the PL7 software provides the configuration editor, which enables these operations to be performed with ease.

The configuration editor also gives access to the axis adjustment parameters and to the debugging functions in online operation.

The Application browser is used to access the configuration editor. To do this:

Step

1

2

3

Action

Open the Station file (either by double clicking on the icon or clicking on its link).

Open the Configuration file (either by double clicking on the icon or clicking on its link),

Double click on the Hardware configuration

Application Browser

Structure View

STATION

Configuration

Hardware configuration

Software configuration

Program

MAST Task

Events

DFB types

Variables

Animation tables

Runtime Screens

Runtime Screens

4 If the Application browser is not displayed: l scroll down the Tools menu and activate the Application browser command, l in the tool bar, click on the Application browser icon:

TLX DS 57 PL7 xxE

73

Configuration

Declaring the axis control modules

Introduction This operation involves declaring the axis control modules in the PLC configuration.

Adding a module To add an axis control module into the PLC configuration, proceed as follows:

Step

1

2

Action

Choose the rack in which the axis control module is to be placed.

In the rack, select and confirm the position in which the TSX CAY module will be placed. If the module takes up two positions (TSX CAY 41/42/33), the second empty slot where the module will be placed must be selected.

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

Add module

Family:

Analog Module 1.5

Communication1.5

Counting 1.5

Remote BusX 1.0

Movement

Wheighing

1.5

1.5

Simulation

Discrete

1.0

1.5

Module:

TSX CAY 21

CAY 33

TSX CAY 41

TSX CAY 42

TSX CFY 11

TSX CFY 21

2 CHAN. AXIS CONT. MOD

MOD.CDE AXE 3

4 CHAN. AXIS CONT. MOD

4 CHAN. AXIS CONT. MOD

1 CH STEPPER MOTOR MOD.

2 CH STEPPER MOTOR MOD.

OK

Cancel

5

6

3

4

Select Movement from the Family field.

Select the module reference (TSX CAY) from the Module field.

Confirm with OK.

After confirmation, the module is declared in its position. This is framed and contains the module reference

0

1

0

0

2

6

P

S

Y

0

3

0

5

7

2

T

S

X

4

2

C

A

Y

3 4

74

TLX DS 57 PL7 xxE

Configuration

Deleting a module l l l

To delete a module from its position: click on the module to select it, press the <Del> key, and a dialog box is displayed,

Confirm deletion of the module.

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

→

Move module command, l Set the destination position.

You can also: select the module using the mouse, without releasing the left mouse button, drag the module to its destination (Drag and drop).

TLX DS 57 PL7 xxE

75

Configuration

Accessing the parameter configuration screen

Accessing module parametering

Parametering screen

To access module parametering, double-click on its icon or: l l select the module (by clicking on it), activate the Open module command from the Utilities dropdown menu.

The following screen is used to parameter the module:

1

2

3

TSX CAY 41 [RACK 0 POSITION 2]

Configuration

Designation : 4 CHAN. AXIS CONT.MOD

Symbol :

Choose axis: Function :

Chan. (None)

4

Task :

MAST

2

3

4

This screen is made up of 4 information or parameter selection zones.

Zone

1

Description

This bar contains the module catalog reference and its geographic address in the PLC (rack number and rack position).

This command zone indicates the mode in progress: Configuration.

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

This zone at "channel" level is used to select the channel to be configured, the associated function: Position control and the task which is used to exchange the implicit exchange objects: MAST or FAST.

76

TLX DS 57 PL7 xxE

Entry zone for the channel configuration parameters

The lower part of the screen is used for parameter entry.

Symbol :

Choose axis:

Chan. 0

Function:

Position control

Task :

MAST

Units

Length

Initial Resolution

Distance

Encoder Type

Incremental x1

Binary

Nb. of header:

Data bits

Status Bits

SSI frame:

Gray

0

16

0

V

0

Absolute x4

Speed Hi Limit

Lo Lomit

Counts 0

Max. speed

Inversion

Input Output

Max. Setpoint

Max. acc. Smax /

Sequence control

Slave of the position of Axis0

Setpoint

Activate

Ratio

Measurement

0 0

Event Input

Rising edge and PRef1 default processing

Reference point

LongCam/ Zero Marker / Direction

Recalibration

Recalibration function missing

0

0

0

0

0 mV ms

Event

EVT

?

?

Configuration

To view the entire parameter configuration zone, activate the View

→

Module zone or View

→

Channel zone commands (you can also use these commands to restore these zones).

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

TLX DS 57 PL7 xxE

77

Configuration

Axis type

Introduction

Machine type

The Machine zone is only displayed with a TSX CAY •2 or TSX CAY 33 module. It is used to choose the type of axis to be managed by the channel.

Two selection buttons are used to choose your machine type:

Parameter

Limited

Infinite

Description

For a limited machine, the position measurement advances between two values defined by soft stops

For an infinite machine, the position measurement advances between the values 0 and Modulo.

78

TLX DS 57 PL7 xxE

Configuration

Encoder Type

Introduction This field is used to define the physical input interface depending on the encoder connected to the module.

For the

TSX CAY •1 module

The Encoder type zone provides buttons for choosing the following parameters: l l

Incremental encoder or absolute encoder,

Multiplication by 1 (*1) or by 4 (*4).

For TSX CAY •2 and TSX CAY 33 modules

The Input interface field is used to choose the encoder type in advance: incremental encoder or absolute SSI encoder.

To access the input interface parametering screen, press the Configuration button:

Details of input interface.

Incremental encoder parameters

The parameters of an incremental encoder are as follows:

Parameter

Multiplication by 1 or multiplication by 4

Description

Measurement inversion If you check this box, the direction in which the measurement changes will be reversed.

Multiplying by 4 increases the precision of the encoder: l l for any given encoder, the precision will be 4 times greater, to obtain a given resolution, you can use a resolution encoder, which is 4 times smaller.

The following diagram illustrates the multiplication by 4

RE

R

ER, corresponding to the resolution obtained by the multiplication by 4, is also called equivalent resolution.

TLX DS 57 PL7 xxE

79

Configuration

TSX CAY •1:

Absolute encoder parameters

When an absolute encoder is selected, the entry zone for the SSI Frame characteristics becomes active.

SSI Frame

This field displays the frame composition in diagram format.

Encoder type

Incremental

Direct off.

Absolute

Assisted off.

Binary Gray

No. of header bits 0

No. of data bits 16

No. of status bits 3

Error Position

1

Parity

SSI Frame x16x xxE

1 2 3 4

Description l l

The possible choices are as follows: l Direct Offset or assisted offset (direct offset by default).

l Gray Code or binary code (binary code by default).

l Number of header bits (1) (not significant): 0 to 4

(0 by default) (5).

l Number of data bits (2): 16 to 25 (16 by default)

(5).

Number of status bits (3): 0 to 3 (0 by default) (5)

Error: this check box is available if you choose a number of status bits other than 0.

l Position: if you activate the error bit (box checked), this field enables you to choose where it is positioned in the status bits zone: position 1 to 3.

l Parity (4): presence (or absence by default) of the parity bit depending on whether or not you check this box. The type of parity is defined as Odd or

Even. (6)

(5) The SSI frame field redisplays the characteristics defined for the serial SSI frame.

(6) If you select an odd parity, the module will not perform any parity check and the parity bit is managed as a status bit.

80

TLX DS 57 PL7 xxE

Configuration

TSX CAY •2 and

TSX CAY 33:

Parametering screen

The input interface configuration screen is used to define the characteristics of the

SSI frame used by the encoder.

Configure Input Interface

Input interfaces

Encoder

Direct offset

Binary

SSI Frame

Header

No. of header bits:

Data

No. of encoder data bits:

ABSOLUTE SSI ENCODER

Assisted offset

Gray Measurement inversion

0

2

Status

No. of status bits:

Input bits

Parity

Presence of parity bit

0

Frame: x12x

Enable Cancel

TSX CAY •1 and

TSX CAY 33:

Encoder field description

The encoder field is used to define the type of coding:

Parameter

Direct offset or assisted offset

Binary or Gray

Measurement inversion

Description

With a direct offset, you must specify the offset value in encoder points. With assisted offset, the offset is calculated by the module, using a position value supplied by the user. By default, direct offset is selected.

These selection buttons are used to define the code used by the encoder: binary code or Gray code (binary code by default).

This parameter defines the measurement inversion; in other words it defines direction in which the measurement changes for a given encoder rotation direction. This parameter is inaccessible from an infinite machine.

TLX DS 57 PL7 xxE

81

Configuration

TSX CAY •1 and

TSX CAY 33: description of

SSI frame field

The SSI frame field is used define the characteristics of the frame:

Parameter

No. of header bits

Description

Number of frame header bits (not significant): 0 to 4 (0 by default).

No. of encoder data bits

No. of status bits

Number of frame data bits: 12 to 25 (12 by default).

Number of frame status bits: 0 to 3 (0 by default). If you choose a number of bits other than 0, this gives access to the error bit and its position (Position 1 to 3) in the status bits zone.

Presence of parity bit Presence or absence of parity bit (absence by default). If this box is checked, you can define the type of parity: even or odd.

If you select odd parity, the module will no longer perform the parity check and the parity bit is then managed as a status bit.

Frame Redisplays the characteristics defined for the SSI frame.

TSX CAY •1 and

TSX CAY 33: absolute encoder with parallel outputs

It is possible to connect an absolute encoder with parallel outputs, using an ABE-

7CPA11 conversion interface. In this case, you must enter the configuration of an absolute SSI encoder.

82

TLX DS 57 PL7 xxE

Configuration

Initial resolution

Introduction

Resolution calculation example

The initial resolution corresponds to an encoder increment. As this is usually not an integer, it is expressed in the form of the following ratio:

RESOL = Distance / No. of points where: l l

Distance = distance covered by the moving part

No. of points = number of encoder points corresponding to the distance covered.

The threshold is 1 to 1,000,000.

The resolution is then deduced from these 2 parameters (Distance and No. of points) in a ratio of 0.5 to 1,000.

Either an incremental encoder of 512 points per turn. The distance covered by 1 encoder turn is 10,000 microm (microm = chosen length unit).

You must enter: l Distance = 10 000, l No. of points = 512

The resolution is then 19.5 microm:

RESOL = 10000 512 =

Note: You can correct this resolution in the adjustment screen. It is therefore called the initial resolution.

In the case of an incremental encoder with multiplication by 4, enter the distance corresponding to RE (See

Encoder Type, p. 79)

TLX DS 57 PL7 xxE

83

Configuration

Measurement units

Introduction

Proposed measurement units

This field is used to choose the physical units in which position and speed measurements are expressed.

The following table shows a list of proposed measurement units. To view this list, press the "down arrow" button situated at the right of the entry field.

Position unit (Length) microm mm in.e

-2

(10

-2

inch) in.e

-5

(10

-5

inch)

Speed unit mm/min m/min in.e

+1

/min (10 inch/min) in.e

-2

/min (10

-2

inch/min)

Customized measurement units

You can choose your own measurement units, with the Length field allowing a maximum of 5 characters to be entered. For example, degrees.

You must, however, choose the position unit to be such that the resolution value

(Distance / No. of points) is between 0.5 and 1,000. The speed unit is calculated using the formula:

Speed unit = Position unit * 1000 / min

Note: You cannot choose the speed unit which results from the formula. You can however modify the text. For example,

Either an incremental encoder capable of 500 points per turn. The distance corresponding to 1 turn is 2mm, or 2000 microm. The resolution is expressed by the ratio of 2000 / 500 (thus in microm). The resulting speed unit will be mm/min

(see table below).

84

TLX DS 57 PL7 xxE

Configuration

Hi and Lo Limits

At a Glance

TSX CAY •1 modules

The hi and lo limits apply in the case of a limited machine and correspond to the physical extremities of the axis. These limits are themselves limited according to the value of the chosen resolution.

Graphic presentation

Limite physique inférieure maxi

Limite physique supérieure mini

Limite physique supérieure maxi

Plage logiciel mini > 2

15

15

* resolution

TLX DS 57 PL7 xxE

Restrictions

Determining the physical limits depending on the association of an encoder with the

CAY •1 module. Take the smallest absolute value of the encoder or the CAY •1 module.

Encoder type

Minimum lo physical limit

Incremental encoder Absolute encoder

-16 * 10

6

* resolution -16 * 10

25

6

* resolution * 2 n-

TSX CAY •1

-10

8

Maximum lo physical limit

Minimum hi physical limit

Maximum hi physical limit

0

0

16 * 10

6

* resolution

0

0

0

0

16 * 10

6

* resolution * 2 n-

25

10

8

85

Configuration

Where n = number of encoder bits

The values to be entered should respect the following equations: l l l l

Minimum lo physical limit

≤

≤

Minimum hi physical limit

Software lo limit

≤

≤

Software hi limit

Maximum lo physical limit

≤

≤

Maximum hi physical limit.

0

Minimum lo physical limit ≤ Entry value of the lo physical limit ≤ Entry value of the software lo limit ≤ Maximum lo physical limit.

Minimum hi physical limit ≤ Entry value of the software hi limit ≤ Entry value of the hi physical limit ≤ Maximum hi physical limit.

Minimum physical format = Minimum hi physical limit - Maximum lo physical limit

> 2

15

* resolution.

l Minimum software format = Software hi limit - Software lo limit > 2

15

* resolution.

86

TLX DS 57 PL7 xxE

Configuration

TSX CAY •2/33 modules

Graphic presentation

Limite physique inférieure maxi

15

8

Limite physique supérieure mini

Limite physique supérieure maxi

Plage logiciel mini > 2

15

8

* resolution

TLX DS 57 PL7 xxE

Restrictions

Determining the physical limits according to the association of an encoder with the

CAY •2/33 module. Take the smallest absolute value of the encoder or the CAY •2/

33 module.

Encoder type

Minimum lo physical limit

Maximum lo physical limit

Incremental encoder Absolute encoder

-16 * 10

0

6

* resolution -16 * 10

6

* resolution *

2 n-25

0

0 Minimum hi physical limit

0

Maximum hi physical limit

16 * 10

6

* resolution 16 * 10

2 n-25

6

* resolution *

TSX CAY •2/33

-6 * 10

8

0

0

6 * 10

8

Where n = number of encoder bits

The values to be entered should respect the following equations: l l

Minimum lo physical limit ≤ Software lo limit ≤ Maximum lo physical limit ≤ 0

≤ Minimum hi physical limits ≤ Software hi limit ≤ Maximum hi physical limit.

Minimum lo physical limit ≤ Entry value of the lo physical limit ≤ Entry value of the software lo limit ≤ Maximum lo physical limit.

87

Configuration l l l

Minimum hi physical limit ≤ Entry value of the software hi limit ≤ Entry value of the hi physical limit ≤ Maximum hi physical limit.

Minimum physical format = Minimum hi physical limit - Maximum lo physical limit

> 2

8

* resolution.

Minimum software format = Software hi limit - Software lo limit > 2

8

* resolution.

88

TLX DS 57 PL7 xxE

Configuration

Modulo

Introduction The modulo is applicable with an infinite machine when position measurement moves between 0 and modulo.

Measurement progresses as follows:

Measurement

0

Max. Modulo For the Max Modulo parameter you must enter the modulo value in encoder points.

The equivalent in user units is displayed automatically in the following field.

Max. Modulo thus defines the hi limit authorized for the adjustable Modulo parameter. The values which can be entered for Modulo and the associated parameters depend on the encoder type used.

For an absolute encoder

The modulo is always a power of 2 because it is defined by the number of data bits from the SSI Frame encoder. Thus, rather than entering the number of modulo bits, you must enter the corresponding power of 2.

For example, for a max modulo of 4096, you must enter the value 12 (because

4096 = 2

12

).

Limits according to resolution

The limit values of Max. Modulo are also limited according to the value of the chosen resolution:

Encoder type

Incremental encoder

Absolute encoder

Limits

1000 -> 6 x 10

8

/ RESOL limited to 16 x 10

6 n: 12 -> 23 (under condition 2 n

x RESOL < 6 x 10

8

TLX DS 57 PL7 xxE

89

Configuration

Maximum speed

Introduction

VMAX Value

The maximum speed VMAX must be such that the resultant frequency satisfies the following condition:

1.8 kHz < FMAX < 900 kHz with FMAX = VMAX x m / RESOL m = 2 with a x1 incremental encoder or an absolute encoder, m = 4 with a x4 incremental encoder.

The condition on the maximum frequency is translated onto the VMAX value by the following relation:

108 x RESOL / m < VMAX < 54000 x RESOL / m restricted to the following limits:

270 < VMAX < 270000

Note: VMAX and RESOL are expressed in the units defined in the configuration screen, either RESOL in microm and VMAX in mm/min, or RESOL in mm and

VMAX in m/min, etc.

Authorized speed

Whatever the speed programmed in the instructions, the module is authorized to operate at a speed equal to VMAX + 10%, on the transitories, in order to reduce following error.

90

TLX DS 57 PL7 xxE

Configuration

Maximum setpoint

Introduction

Adjusting the variable speed controller

Example

The maximum setpoint UMAX is the voltage which has to be applied to the variable speed controller, in order to reach a speed equal to the maximum speed.

In the absence of any particular speed constraint, the variable speed controller can be adjusted to obtain the maximum speed for a voltage as close as possible to, but less than 9 V.

Limiting voltage to 9 V enables a reserve to be made available during transitory periods allowing a surge speed to be attained. If there are no constraints imposed by the mechanics, or by the maximum acceptable frequency, choose the following value: Maximum setpoint = 9000 mV

We would like to control an axis with the following characteristics:

Encoder

1000 points/turn

Motor

Moving part to be commanded

(Maximum speed = 30 mm/s)

Reduction 1/5

Desired maximum linear speed of 30 mm/s, or 1800 mm/m. Thread of 5 mm.

The axis is controlled by a motor capable of 3000 rev/min, which drives a ball screw via a speed reducer with a ratio of 1/5. The encoder is on the motor shaft. Let us assume that it is an incremental encoder without multiplication by 4.

l l

The RESOL parameter (distance covered by the moving part between 2 encoder increments) is equal to: Ne x Thread / N = 1/5 x 5 / 1000 = 1 microm

The maximum operating speed is 1800 mm/m,

Maximum setpoint is the voltage value at which maximum speed can be reached.

Considering the reduction ratio (1/5) and the thread size (5 m), the maximum linear speed (1800 mm/min) corresponds to a motor speed of 1800 rev/min.

If the variable speed controller is adjusted to reach a speed of 3000 rev/min with an input voltage of 10 V; in order to reach 1800 rev/min, the voltage must be 6 V

(maximum setpoint = 6000 mV).

Consistency of parameters

The consistency of the RESOL, Maximum speed and Maximum setpoint parameters must be ensured, otherwise inconsistent control loop behavior will result.

TLX DS 57 PL7 xxE

91

Configuration

Event

Introduction The Event parameter is used to associate an event processing task with a channel.

To do this, an event task number from 0 – 63 must be entered.

92

TLX DS 57 PL7 xxE

Configuration

Inversion

Introduction

Inversion possibilities

Using the inversion parameter

The inversion parameters means that it is not necessary to reconnect the analog output when the axis is moving in the opposite direction to that required. These parameters define the setpoint inversion between the digital/analog converter (D/A converter) output and the variable speed controller and / or the measurement inversion (for an incremental encoder).

The measurement inversion allows you to define the direction of measurement for an encoder rotation direction.

The inversion possibilities are as follows:

Speed setpoint Speed feedforward

Position setpoint

CNA offset

Gain 1

Gain 2

CNA

Invert output

Gain threshold

Invert measurement l l l l

No Inversion,

Inversion of measurement direction,

Variable speed controller setpoint inversion,

Setpoint and measurement inversion.

Position measurement

Defining this parameter requires a number of operations to be performed. It is advisable to save the values by default in the first instance and to modify this parameter in the adjustment phase if necessary.

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Configuration

Sequence control

Introduction

Enabled sequence control

Disabled sequence control

The Sequence control parameter is used to define the action to be taken when movement without stop (G01, G11 ou G30) is not followed by a movement command.

If the sequence control is enabled (default value): l G01, G11 and G30 movements not followed by a movement command are stopped (equivalent to a STOP command) and a command refusal is generated.

In this case, the movements without stop cannot be sequenced by synchronization on the DONE bit.

l G01, G11 and G30 movements followed by G05, G07 or G62 movements are stopped if this second command is not itself followed by a movement command.

If sequence control is disabled, G01, G11 and G30 movements not followed by a movement command continue at their target speed.

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Configuration

Maximum acceleration or deceleration

Introduction

Graphic presentation

Maximum acceleration (or deceleration) is defined by the minimum time (in ms) necessary to get from zero speed to VMAX speed.

The following diagram shows the maximum acceleration (ACCMAX) and the maximum deceleration (DECMAX):

Speed

VMAX

Limits

Time (ms)

Acceleration

Tmin

ACCMAX

DECMAX

Tmin

The minimum time Tmin is of between 16 and 10000 ms.

Time (ms)

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Configuration

Slave of the position of axis 0

Introduction

Module

TSX CAY •1

This zone is used to activate the function of slaving another axis to the position of axis 0. To do this the Activation box must be selected to enable the function.

The axis 0 position tracking screen of a TSX CAY •1 module is as follows:

Position follower of Axis 0

Setpointed

Activate

Ratio

Measurement

0 / 0

The following parameters must be defined:

Parameter

Setpoint or

Measurement

Ratio

Description

These 2 buttons allow you to define the slave axis setpoint: l l

Master axis setpoint (axis 0), or

Master axis measurement (axis 0).

These 2 entry fields are used to define the ratio setting the slave axis setpoint value:

Slave axis setpoint = Ratio x Setpoint or Master axis measurement (The Ratio has to be between 0.1 and 10, as each of the Ratio parameter entry fields are between 1 and 1000).

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Module

TSX CAY •2

Configuration

The axis 0 position tracking screen of the TSX CAY •2 module is as follows:

Slave Axis 0

Enable

Auto offset

OK

Setpoint

Current value

Cancel

Axis 0

The following parameters must be defined:

Parameter

Setpoint or

Measurement

Auto Offset

Description

These 2 buttons allow you to define the slave axis setpoint: l l

Master axis setpoint (axis 0), or

Master axis measurement (axis 0).

This check box allows you to choose the shift register between the master and the slave: l l

By slave axis learning (if the box is selected),

By an adjustable parameter:

Slave axis setpoint = Ratio x Setpoint or

Measurement of the master axis + Offset . The Ratio and

Offset parameters are the adjustment parameters (See Parameters

Associated with Master / Slave Axes, p. 214

).

The Position tracking function (slave movement) is not provided for axis 0, which can only be the master.

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Configuration

Event input

Introduction

Storage of position

The Event input selection zone is used to: l define the type of event to be detected on the event input of the channel , for G05,

G07, G10 and G11 instructions. l define the type of event used for the storage of position function, which can store one or two positions (PREF1 and PREF2).

If the application does not require a length measurement, the storage possibilities are as follows:

Storage possibilities

Standard rising edge and PREF1 processing

Storage

PREF1

Icon

(1)

Falling Edge and PREF1 PREF1 (1)

If the application requires a length measurement, the storage possibilities are as follows:

Storage possibilities

Rising edge and PREF1, then rising edge and

PREF2

Storage

PREF1, PREF2

Icon

(1)

Rising edge and PREF1, then falling edge and

PREF2

PREF1, PREF2 (1)

Falling edge and PREF1, then falling edge and

PREF2

PREF1, PREF2 (1)

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Storage possibilities

Falling edge and PREF1, then rising edge and

PREF2

Storage

PREF1, PREF2

Configuration

Icon

(1)

(1) The icon shows when storage occurs. For example,

The position PREF1 is detected on the first rising edge of the event input and the position PREF2 is detected on the second rising edge of the event input.

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Configuration

Reference point

Introduction An incremental encoder does not measure the position but supplies a number of pulses proportional to a movement.In order for this movement to be transformed into a position, a known value must assigned to a particular point on the axis (usually chosen as 0).This operation is called setting a reference point.An axis which has been given a reference point, is classed as referenced.

Reference point field

The Reference point field defines the type and direction of the reference point (only when an incremental encoder has made the position measurement).

The type is defined by using 2 source detection inputs :zero marker input and cam input.

Possibilities RP Speed Icon short cam (2) and zero latch, + direction

Approach speed (1)

F F (3) short cam (2) and zero latch, - direction F

Short cam (2), + direction F

Short cam (2), - direction F

Long cam (2) in stop and zero latch, + direction F

Long cam (2) in stop and zero latch, - direction F

F/8 (3)

F (3)

F/8

F/8

(3)

(3)

F/8 (3)

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Possibilities

Long cam (2) in stop, + direction

Long cam (2) in stop, - direction

Approach speed (1)

F

Configuration

RP Speed Icon

F/8 (3)

F F/8 (3)

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

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

(2) Only short cam reference points can be used when the machine is of infinite type.

(3) The icon illustrates the reference point.

Reference point command l l

The reference point command is given: in automatic mode, by instruction code 14:reference point, in manual mode, by the SETRP command:manual reference point.

Forced reference point

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

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

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Configuration

Reference point short cam

The following table provides a detailed description of short cam reference points :

Type

Direction

Icon

Short cam / zero latch

+ Direction

Short cam only

- Direction (1) + Direction - Direction (1)

Movement Zero latch Cam

(1) or start on cam

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Configuration

Reference point long cam

The following table provides a detailed description of the long cam and zero latch reference points:

Type

Direction

Start

Icon

Long cam in stop / zero latch

+ Direction (2) - Direction (2)

Start off cam Start on cam Start on cam Start off cam

Movement Zero latch Cam

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The following table provides a detailed description of long cam only reference points:

Type

Direction

Start

Icon

Long cam in stop

+ Direction (2) - Direction (2)

Start off cam Start on cam Start on cam Start off cam

Cam Movement

(2) defines the place on the machine where the cam is situated.

103

Configuration

TSX CAY •2 and

TSX CAY 33:zero latch presence monitoring

Reference point short cam monitors the presence of the zero latch along the length of the cam.

During a short cam type of reference point setting, in + direction or – direction, with zero latch, if all the cam is covered without detecting any zero latches, the axis stops at the output of the cam and an error is signaled.The axis goes into a non-referenced state.

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Configuration

Recalibration

Introduction

Recalibration function

This function is used to compensate for a possible slip in the measurement if the encoder used is an incremental encoder. Each time the moving part passes in front of the detector, the measurement is recalibrated to the specified value.

The recalibration possibilities are as follows:

Possibilities

Recalibration function missing

Recalibration function

Inactive

Icon

Recalibration function and error on threshold overshoot

Active

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Configuration

Masking of faults

Introduction

Mask faults screen

With a TSX CAY •2 or TSX CAY 33 module it is possible to individually mask 4 of the 8 external faults (hardware) during channel configuration (MSK_HDERR parameter).

The Mask faults screen is used to define the faults that you would like to mask:

Masking faults

Faults

Translator fault

Encoder supply fault

Emergency stop fault

24 V poxxer supply fault

Masking masked masked

OK Cancel

Associated variables

The 4 faults that you can mask are as follows:

Fault

Variable speed controller fault

Encoder supply fault

Emergency stop fault

24 V supply fault

Associated parameter

DRV_FLT

ENC_SUP

EMG_STP

AUX_SUP

During a power outage, the masked faults are not signaled and the associated variables are not refreshed: l l

%I.ERR channel error bit,

%MWxy.i.2 status word.

The AX_FLT, AX_OK and HD_ERR information bits are updated without taking account of masking. All axis movement is interrupted by a stop and disabling of the variable speed controller.

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Configuration

Confirming configuration parameters

Introduction When all the configuration parameters have been defined, the configuration must be confirmed using the Edit

→

Confirm command or by activating the associated icon:

Invalid configuration parameters

If one or several parameter values are outside the permitted limits, an error message is displayed to signal the invalid parameter.

For example the Distance value of the Initial resolution field is invalid:

Confirm i

Cannot validate:

Error in parameters of configuration:

Initial resolution distance not valid

OK

The invalid parameters must be corrected before your configuration can be confirmed.

Note: In the configuration screens, invalid parameters are shown in red. The grayed out parameters can not be modified because they depend on invalid parameters (for example, an invalid resolution prevents the lower and upper limits from being entered).

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Configuration

Invalid adjustment parameters

The first time the configuration is confirmed, the adjustment parameters are initialized. If subsequent to modifications made to the configuration values, the adjustment parameters are no longer correct, an error message is displayed to signal the affected parameter.

For example, the soft stops are incompatible:

Confirm i

Cannot validate:

Error in parmeters of Adjust :

Recalibration position inconsistent

OK

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

Acknowledgmen t of confirmation l l l

Your configuration has been acknowledged when: all the configuration parameters are correct, all the adjustment parameters are correct, you have confirmed everything from the standard screen of the configuration editor.

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Programming axis control

5

Introduction

Subject of this section

This section describes the programming principle for the different operating modes: description of the main instructions and operating modes.

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Programming

What’s in this

Chapter?

This Chapter contains the following Maps:

Topic

Programming an independent axis

Operating modes

Programming an SMOVE function (in automatic mode )

Entering SMOVE function parameters

Description of SMOVE function parameters

Instruction codes for SMOVE function

Description of elementary movements using a limited machine

Description of elementary movements using an infinite machine

Programming a movement to a position without stop

Programming a movement to position with stop

Programming a movement until event detection

Programming a Simple Machining Command

Programming a reference point

Programming a reference point on the fly on event

How to Program a Movement Stop

Programming a forced reference point

Programming an await event

Programming storage of current position on event

Sequencing movement commands

Programming the recalibration on the fly function

Movement slaved to another TSX CAY 1 axis

Movement slaved to another TSX CAY •2 axis

Movement slaved to an external setpoint

Deferred PAUSE function

Step by step mode

Feed HOLD function

Event processing with an independent axis

Managing the operating modes

Fault management

Description of external hardware faults

Description of Application Faults

Description of command refused faults

Managing manual mode

110

165

166

170

173

156

158

161

163

177

178

148

150

152

155

139

140

141

145

131

134

136

138

124

127

128

129

Page

112

113

114

115

116

119

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Topic

Visual movement commands

Incremental movement commands

Reference point command

Forced reference point command

Cancel references command

Referencing and offset calculation command

Managing loop control disabled mode (DIRDRIVE)

Managing measurement (OFF) mode

Programming

Page

180

182

183

184

185

186

187

189

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Programming

Programming an independent axis

Introduction

Bit objects and words

Each axis control module channel (axis) is programmed by using: l l the SMOVE function for movements in automatic mode, the bit objects (%I et %Q) and words (%IW, %QW et %MW), associated with the module to be defined: l l l selection of operating modes, movement commands, except for automatic mode, monitoring of the axis and module operating state.

The bit objects and words can be accessed by their address or their symbol.The symbols are defined in the variable editor, which proposes a symbol name for each object by default.

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Programming

Operating modes

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

Operating mode

Automatic (AUTO)

Description

This mode is used for the execution of movement commands controlled by the SMOVE functions.

Manual (MANU) This mode is used to control the moving part visually from a front panel or human machine interface terminal. The commands can be accessed by the %Q output bits.

Loop control disabled

(DIRDRIVE)

The output behaves like a digital / analog converter in this mode. The control loop is inoperative.

During adjustment this mode is used to analyze the behavior of the axis independently of the control loop.

Measurement (OFF) In this mode, the channel does not check the moving part. It only returns information on position and current speeds.

This mode is forced at start-up if the axis is configured and not faulty.

Mode selection Modes are selected: l l using the MODE_SEL (%QWxy.i.0) word, or by the debugging screen selector.

The following table indicates the selected mode, according to the %QWxy.i.0 word value:

1

2

Value

0

3

Selected mode

OFF

DIRDRIVE

MANU

AUTO

Description

Measurement mode, analog output inhibition.

Loop control disabled mode.

Manual mode.

Automatic mode.

For all other values of %QWxy.i.0, the OFF mode is selected.

Changing mode during a movement

Changing mode while a movement is in progress (DONE bit: %Ixy.i.1 at 1) stops the moving part. When the moving part is actually stopped (NOMOTION bit: %Ixy.i.1 at

1) the new operating mode is then activated.

Note: Only commands concerning the current mode are examined. The other commands are ignored (except when an SMOVE function is performed in manual mode).

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Programming

Programming an SMOVE function (in automatic mode )

Introduction

Assisted entry screen

An SMOVE function must be programmed in all programming modules in ladder language (using an operate block ), instruction list language (between square brackets) or in structured text language.In all cases, the syntax stays the same.

The SMOVE function can be entered directly or via the assisted entry screen :Function call:

Function Call

Informations Fonctions : Parameters

Family

Characters string

Lib.V

App.

1,1 -

Movement command

Communication

1.0

1.4

Conversions numériques 1.1

-

-

-

Call format

Parameters of the METHOD:

Name

SMOVE

Name Type Kind Comment

Channel MAIN Channel

NRUN WORD IN Movement number

G9_ WORD IN G9

Comment

Automatic Movement comand

01

Entry field

Display the call

SMOVE

OK Cancel Details...

Assisted entry From within the selected program editor, proceed as follows:

Step

1

4

5

2

3

6

Action

Press the Shift and F8 keys together, or click on the F(…) icon.The Function

call window is then displayed.

Select the Parameters option.

Choose the Movement command family from the library.

Choose the SMOVE function.

Press the Details button, and fill in the different fields that are offered.Function variables can also be entered directly into the parameter entry zone.

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

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Programming

Entering SMOVE function parameters

Introduction A movement command is programmed by an SMOVE function using the following syntax:

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

The Details screen can be used to assist you with the entry of each parameter.

SMOVE function details screen

The SMOVE function details screen is as follows:

SMOVE

Channel address

N_Run 1 Cancel

Movement codes

Movement number

G9_ Cancel

G

F x

G01

G14

G09

G62

+

+

++

0.0

G11

G07

1 2 3

G10

G05

X Position increment

F 500 Cancel

Paramètres M

Z

Movement speed

Sorties TOR auxiliaires

Evt source Inchangées

Synchronous with

Consecutive with

AUX 0

OK Cancel

Entry fields (for SMOVE function parameters) as are follows:

G

X

F

M

Parameter

%CHxy.i

N_Run

G9_

Description

Channel address.

Movement number.

Movement type.

Instruction code.

Coordinate of target position.

Speed of moving part.

Event processing, auxiliary discrete output associated with channel.

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Programming

Description of SMOVE function parameters

Introduction :The following parameters must be entered for programming an interpolated movement function:

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

Channel address %CHxy.i sets the channel address for the axis command module in the PLC configuration: i y

Parameter x

Indication

Rack number

Module position in the rack

Channel number l l l

0 and 1 for TSX CAY 2• module,

0 to 3 for TSX CAY 4• module,

0 to 2 for TSX CAY 33 module.

Movement number

Movement type

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

In debugging mode, this number is used to recognize the current movement.

G9_ defines the movement type:

Code

90

91

98

60

68

Movement type

Absolute movement.

Relative movement with respect to the current position .

Relative movement with respect to stored PREF1 position .

Instruction code G07 is used to store PREF1 position.

Absolute movement for set direction (infinite type machine only).

Relative movement with respect to PREF in set direction (infinite type machine only).

To choose the movement type, use the scroll button on the right of the G9_ field, or enter the code directly with a "direct entry" (without going via the Details screen).

Instruction code G defines the instruction code (See

Instruction codes for SMOVE function, p. 119)

for SMOVE function.

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Programming

Coordinates for reach position

X defines the coordinates of the reach position or where the moving part must aim for (in the case of non-stop movement). This position can be: l l immediate, coded in a %MDi internal double word or %KDi internal constant (this word can be indexed).

This value is expressed as a unit defined by the Length Unit (for example; microm).

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

Speed of moving part

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

The speed unit is deduced from the selected length unit:

Speed = u x 1000 / min where u = unit length chosen.

For example, if the microm is chosen as the length unit, the speed unit will be: microm x 1000 / min -> mm / min

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Programming

M Parameter M defines a word which codes nibbles (in hexadecimal): l activating or non-activating the event processing application trigger for G10, G11, l

G05 and G07 instructions: l bit 12 at 1 : activating l bit 12 at 0 : non-activating setting to 0 or 1 of discrete auxiliary output associated with channel: l Nibble 2 : activating moment

0 = unchanged (no modification of output),

1 = synchronous with movement (assignment of output at beginning of execution of instruction),

2 = consecutive to movement (assignment of output at end of execution of l l instruction)

Nibble 0 : auxiliary output status during execution of G01, G09, G10 and G11 instructions

0 = output set to 0 (AUX0 box not checked),

1 = output set to 1 (AUX0 box checked).

event type awaited by instruction G05 : l Bit 13

0 = await time or event,

1 = await modulo crossing number.

For example:

Byte 3 2 1 0

16# l l

16#0101 = trigger for event processing application not activated, and auxiliary output set to 1 when SMOVE command is executed.

16#1200 = trigger for event processing application is activated, and auxiliary output set to 0 when SMOVE command has finished being executed.

Note: Coding is automatically completed in the M field on the Details screen, when the choices have been made using the check-boxes and buttons offered by the screen.

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Programming

Instruction codes for SMOVE function

Introduction

Instruction codes list

The G parameter defines the instruction code.

To choose the instruction code, either use the scroll button on the right of the G field, or press on the icon which corresponds to the movement. You can also enter the code directly with a "direct entry" (without going via the Details screen).

The instruction codes which can be chosen on the Details screen are as follows:

Instruction code

09

Indication

Movement on position with stop.

Icon

01 Movement on position without stop.

32 Preparation of machining command.

30

10

11

Simple machining.

Movement as far as event with stop.

Movement as far as event without stop.

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119

Programming

Instruction code

14

Indication

Reference point.

62

05

Forced reference point.

Await event.

07 Storing position on event.

21 (1)

04 (1)

Unlimited movement with reference point on the fly

Movement stop.

Icon

(1) With TSX CAY 22 / 42 or TSX CAY 33 module

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Imaging on

Details screen

Programming

The Details screen also displays an image which represents the selected movement.

For example, code G09 :

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121

Programming

Description of elementary movements using a limited machine

Introduction

Types of movement

3 types of movement category can be programmed: l l l movements to a position (instruction codes 01 and 09), movements until event detection (instruction codes 10 and 11), reference points (instruction code 14).

The target position and speed must be set while programming these movements.

Acceleration parameters (e.g. rectangular, trapezoidal or triangular) are defined in the configuration.

With a limited machine, types of movement are as follows: l Absolute in relation to the machine homing point (code 90).

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

Speed (mm / min)

1000

0

50 000

Position (mm)

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Programming l Relative in relation to current position (code 91).

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

Speed (mm / min)

1000

0

X X + 40 000 l Relative in relation to stored position PREF1 (code 98).

Position (mm)

Speed (mm / min)

1000

0

PREF PREF + 30 000

Position (mm)

123

Programming

Description of elementary movements using an infinite machine

Introduction

Types of movement

3 types of movement category can be programmed: l l l movements on a position (instruction codes 01 and 09), movements until event detection (instruction codes 10 and 11), reference points (instruction code 14).

The reach position and speed must be set while programming. Acceleration parameters (eg rectangular, trapezoidal or triangular) are set in the configuration.

Whatever the current position and target may be, it is always possible to reach the objective position in + direction as well as – direction. There are 3 possible ways to go from point A to point B: l l l ascending position movement (movement 1), descending position movement (movement 2), for the shortest movement: the module decides on the direction (movement 3)

The required direction of movement is specified by the speed sign.

Movement 1

0 A B Mod-1

Movements 2 and 3

With an infinite machine, movements can be of the following type: l Shortest movement in relation to the machine homing point (code 90). In this case, the shortest path determines the direction of movement.

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Programming

Example : SMOVE %CH102.0 (1,90,09,45000,1000,0)

Speed (mm / min)

1000

0 Position (mm)

30 000 45 000 Modulo

60 000 l Set direction movement in relation to the machine homing point (code 60). In this case, the speed sign determines the direction of movement.

Speed (mm / min)

TLX DS 57 PL7 xxE

30 000 45 000

0 Position (mm)

Modulo

60 000

-1000 l l

Shortest movement in relation to stored PREF1 position (code 98).

For example, SMOVE %CH102.0 (1,98,09,45000,1000,0) targets (45000 +

PREF1) value.

In opposite direction in relation to stored PREF1 position (code 68).

For example, SMOVE %CH102.0 (1,68,09,45000,-1000,0,0) targets (45000 +

PREF1) value while moving in – direction.

For example, SMOVE %CH102.0 (1,68,09,45000,1000,0) targets (45000 +

PREF1) value while moving in + direction.

125

Programming l Relative in relation to current position (code 91). In this case, direction of movement is determined by the X parameter sign (position increment).

Example : SMOVE %CH102.0 (1,90,09,15000,1000,0)

Speed (mm / min)

1000

0

X X+15 000 Modulo

60 000

Position (mm)

Note: The value targeted by G68 or G91 is calculated in relation to the modulo.

(1000 + PREF1) Mod ModuloValue and (X + 15000) Mod ModuloValue are targeted in the examples. Mod is the Modulo mathematical operator.

For example, if PREF1 = 40000 and modulo = 60000 : 45000 + PREF1 corresponds to 25000.

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Programming

Programming a movement to a position without stop

Instruction The movement to position without stop instruction is as follows:

Instruction

Movement to position without stop

Instruction code

01

Icon

Example SMOVE %CH102.0 (1,90,01,5000000,1000,0)

Speed (mm / min)

1000

0

5000000

Position (microm)

Note: If instruction G01 is not followed by another instruction, its behavior depends on the Sequence control parameter defined in configuration.

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Programming

Programming a movement to position with stop

Instruction The movement to position with stop instruction is as follows :

Instruction

Movement to position with stop

Instruction code

09

Icon

Example SMOVE %CH102.0 (1,90,09,5000000,1000,0)

Speed (mm / min)

1000

0

5000000

Position (microm)

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Programming

Programming a movement until event detection

Instruction The instruction for movement until event detection is as follows:

Instruction

Movement until event detection without stop

Instruction code

11

Icon

Movement until event detection with stop 10

Event

Instructions 11 and 10 are similar to instructions 01 and 09, with command end on detection of an event (or command end on position entered if event has not been detected).

The awaited event can be: l a rising or falling edge (depending on the choice made in the Event field in the configuration screen) on dedicated event input, associated with the channel which controls the axis, l a rising edge of the EXT_EVT bit (%Qxy.i.10) generated by the program.

It is mandatory to define the Position parameter. If the event is not been detected, the command finishes when this position has been reached.

Instructions 11 and 10 can activate an event task on detection of an event, if bit 12 of parameter M is set to 1.

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Programming

Examples Example 1: SMOVE %CH102.0 (1,90,11,2000000,3000,0)

Speed (mm / min) Event

3000

Position (microm)

0

2000000

Example 2: SMOVE %CH102.0 (1,90,10,3000000,2000,16#1000)

Speed (mm / min)

Event

(activating

EVT task).

2000

0

3000000

Position (microm)

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Programming

Programming a Simple Machining Command

Instruction A simple machining command instruction is as follows:

Instruction

Preparing simple machining

Instruction code

32

Icon

Executing simple machining 30

Example

Instruction 32 and 30 are used to create a simple machining profile consisting of: l l an approach speed defined in instruction G32, a machining speed and a target position defined in instruction G30.

SMOVE %CH102.0 (1,90,32,0,1000,0)

SMOVE %CH102.0 (2,90,30,5000000,500,0)

Speed (mm / min)

1000

500

0

5000000

Position (microm)

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131

Programming

Programming l l l l l

Command G32 is a preparation command. It can be activated in the same PLC cycle as a G30 command, without monitoring the NEXT and DONE bits.

The reactivating command G32 does not have to be reactivated when the approach speed remains unchanged, as the speed is stored. On the other hand, it is mandatory to send at least one G32 command before executing a G30 command.

If it is not followed by a movement command, instruction G30 triggers a movement without stop whose behavior is identical to instruction G01. If instruction G30 is not followed by a movement command and if a sequence control is requested, it will cause a command refusal.

If the moving part is in motion, instruction G30 must not change the direction of movement.

Instruction G30 is normally followed by a G09 instruction (figure 1). If this sequence causes a change in direction, the process stops and inverts in order to obtain the value G09 (figure 2).

G30 G09

Figure 1

G30

X1 X2

X2

X1

Figure 2

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Programming l If the distance to be covered by instruction G30 does not allow the specified speed to be reached, the movement then takes one of the following trajectories:

F F

X1 X1

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Programming

Programming a reference point

Instruction The instruction for setting a reference point is as follows:

Instruction

Reference point

Instruction code

14

Icon

Examples

The displayed position corresponds to the coordinate to be loaded as the current value when the source is detected.

According to the type of reference point chosen, the reference point event is detected either during cam input or during cam and Zero Marker inputs, associated with the controlled axis.

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

Example 1: SMOVE %CH102.0 (1,90,14,5000000,200,0)

Type of reference point = short cam, - direction

Speed (mm / min)

Cam

200

0

5000000

Position (microm)

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Programming

Example 2: SMOVE %CH102.0 (1,90,14,0,200,0)

Type of reference point = short cam, zero latch, - direction

Speed (mm / min)

Cam and zero latch

25

Position (microm)

0

200

Note: The axis is referenced at the start of the execution of the instruction.

The movement must always be an absolute movement (code 90).

135

Programming

Programming a reference point on the fly on event

Instruction The instruction for setting a reference point on the fly on event is as follows:

Instruction

Setting a reference point on the fly on event

Instruction code

21

Icon

Example

The position supplied by the X parameter corresponds to the coordinate to be loaded as the current value when the source is detected.

The direction of movement is defined by the speed sign (the direction defined by the type of source is not taken into account).

The G21 instruction never finishes of its own accord. A STOP command (%Qxy.i.15) must be sent to terminate this instruction.

According to the type of reference point chosen, the reference point event is detected either during cam input or during cam and Zero Marker inputs, associated with the controlled axis.

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

SMOVE %CH102.0 (1,60,21,5000000,200,0)

Position

Cam

Cam

5000000

Time

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Conditions of execution l l l

The execution conditions are as follows: the encoder must be an incremental encoder, the recalibration function is inactive, the type of movement uses a G60 instruction code.

Programming

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Programming

How to Program a Movement Stop

Instruction The instruction for a movement stop is as follows:

Instruction

Movement stop

Instruction code

04

Icon

Example

This instruction is used to stop G01, G30 and G11 non-stop movements as quickly as possible. It is equivalent to a STOP order.

There are no parameters associated with instruction G04.

Stopping a G01 movement after a time period of 10 s:

SMOVE %CH102.0 (1,910,010,1000000,1500,16#0000)

SMOVE %CH102.0 (2,900,050,10000,0,16#0000)

SMOVE %CH102.0 (3,90,04,0,0,16#0000)

Comment:

Unlike the STOP instruction, a movement stop using the instruction code 04 does not empty the buffers.

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Programming

Programming a forced reference point

Instruction The instruction for setting a forced reference point is as follows:

Instruction

Forced reference point

Instruction code

62

Icon

Example

Notes

This command sets a forced reference point, without moving the moving part.

The current position value is forced to the value entered in the position X parameter.

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

When this instruction is carried out, the current position is forced to 100000.

l l

Whatever the state of the axis (referenced or not referenced), if the G62 command is accepted, it references the axis once the command is executed.

The G62 command is only accepted if the moving part is stationary: NOMOTION bit (%Ixy.i.8) set to 1.

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Programming

Programming an await event

Instruction The await event instruction is as follows:

Instruction

Await event

Instruction code

05

Icon

For an infinite machine

With an infinite machine, the G05 instruction is also used to await the crossing of a l l number of modulo.

The choice is determined by the bit 13 value of parameter M: bit 13 = 0, await event, bit 13 = 1, await modulo number.

Event associated with the command l l

The event associated with command G05 can be: l a rising or falling edge (depending on the choice made in the Event field in the configuration screen) on dedicated event input, associated with the channel which controls the axis, a rising edge of the EXT_EVT bit (%Qxy.i.10) generated by the program, a number of modulo crossings (for an infinite machine). For example, awaiting 10 modulo crossings with activation of the event task:

SMOVE %CH102.0 (1,90,05,0,10,16#2000)

Event task

This instruction is used to await an event within a Time Out (in ms), defined in the parameter F. If an event does not appear within this Time Out period, the await command is then deactivated. If parameter F is defined at 0, the wait is without a time limit.

The G05 instruction can activate an event task on detection of an event, if bit 12 of parameter M is set at 1.

The TO_G05 bit is set to 1 when the Time Out has elapsed without an event being detected. For example, an event waits with a Time Out period of 1.5 s and with activation of the event task:

SMOVE %CH102.0 (1,90,05,0,1500,16#1000)

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Programming

Programming storage of current position on event

Instruction The instruction for storage of current position on event is as follows :

Instruction

Storage of current position on event

Instruction code

07

Icon

After execution of this instruction, a change of state awaited on the event input of the axis control module causes the current position to be stored.

During configuration and in the position parameter X, you can choose to store one or two positions (PREF1 and PREF2): l If the without measurement option is chosen during configuration, only PREF1 is stored (parameter X must be equal to 1).

l If the with measurement option is chosen during configuration: l if X = 1, event processing will be activated on storage of position PREF1, l if X = 2, event processing will be activated after storage of position PREF1, then PREF2.

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Programming

Storage of current position

The following table illustrates storage of current position, according to the choices made during configuration:

Diagram Event type on the

EVT input

Rising edge

Choices made during configuration

Rising edge and

PREF1

Falling edge

Position

Falling edge and

PREF1

142

Rising edge

Falling edge

Rising and falling edge

Position

Falling and rising edge

Rising edge and

PREF1, then rising edge and PREF2

Falling edge and

PREF1, then falling edge and PREF2

Rising edge and

PREF1, then falling edge and PREF2

Falling edge and

PREF1, then rising edge and PREF2

Event processing is activated on detection of an event, if bit 12 of parameter M is set at 1.

The program passes directly on to the following instruction.The PREF1 (%IDxy.i.9) and PREF2 (%IDxy.i.11) words are only refreshed if an event task is triggered by the awaited event.

The performance of the G07 instruction, or in other words the measurement / event delay is immediate for an incremental encoder and less than or equal to 400

microseconds for an absolute encoder.

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Programming

Example of how to use an indexed position

An indexed position is used to resolve repetitive movements.For example, let us assume that the elementary movement sequence below has to be performed 9 times: l l l movement until the edge of the part is detected (2), movement up to position 2000 in relation to the edge of the part (3), movement up to position 1000 in relation to the edge of the part (4), l movement up to the edge of the part (5).

In this example, it is assumed that the reference point is already set and the moving part is in the source position.

Speed (mm / min)

Event Event Event

Position (microm)

Note: The sequence of elementary movements is shown in bold on the curve.The numbers indicated correspond to the numbers of program steps included in the

SMOVE function.

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Programming

Program The elementary movement sequence program is as follows:

!%MW0:=0;%QW2.0:=3;

!RE %I1.0 AND %I2.0.3 AND %I2.0.23

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

!%I2.0

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

!%I2.0

!SMOVE %CH2.0(3,98,09,20000,500,0);

!%I2.0

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

!%I2.0

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

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

Note: All the actions have to have been programmed on activation.

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Programming

Sequencing movement commands

Producing a trajectory

Buffer memory

A trajectory is produced by programming a succession of elementary movement instructions (SMOVE function).

Each elementary SMOVE command must only be performed once. It must be programmed: l either in Grafcet:in one programmed step, on activation or deactivation, l in structured text or ladder language, on the rising edge of a bit.

A function execution report is provided by the module using the NEXT and DONE bits.

The TSX CAY module features a mechanism which is used to sequence movement commands.

Each axis of the TSX CAY module has a buffer memory, which can receive 2 movement commands, in addition to the one it is in the process of executing.Thus when a movement in progress has finished, it moves directly on to the first command in the buffer memory.

Command sequence:

SMOVE

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

SMOVE %CH102.0 (02,90,01,...)

SMOVE %CH102.0 (03,90,01,...)

NEXT

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Programming

Sequencing 2 commands l l

2 movement commands may be sequenced as follows : instantaneously if the first movement is without stop, as soon as the moving part is in the target window or after time delay TSTOP has elapsed (which is defined in the stop control on parameter adjustment screen) if the first movement is with a stop.

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

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

Bits associated with a sequencing mechanism

The bits associated with the sequencing mechanism are as follows:

Addressing

NEXT (%Ixy.i.0)

DONE (%Ixy.i;1)

Description

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

Indicates that execution of the command in progress is complete and that there are no new commands in the buffer memory.

TH_PNT (%Ixy.i.10) Indicates that the position target value has been reached.

AT_PNT (%Ixy.i.9) Indicates that the moving part has reached the target point: l l by an INC command in manual mode, by a movement command with stop in automatic mode,

For a movement with stop, this bit is set to 1 as soon as the moving part enters the target window.

This bit is not set to 1, following a JOG command, reference point or

STOP during a movement.

Note: The program must always test the NEXT bit, or the DONE bit before executing an SMOVE command, except in the case of a G32 command which can be immediately followed by another command.

The SYNC_N_RUN (%IWxy.i.8) word periodically supplies information on the number of steps in progress, in order to carry out movement sequencing.

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Example The diagram below is a timing diagram for a sequence:

Programming

SMOVE%CH2(1,90,01,..;

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

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

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

SMOVE%CH2(5,90,09,..;

L

L

L

Execution

Execution

L

Exec.

Exec.

L Exec.

L = read

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

For a movement without stop:DONE is set to 1 when TH_PNT is set to 1 and when there is available buffer memory.

Note: This simplified diagram does not take following error into account.

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147

Programming

Programming the recalibration on the fly function

Introduction This function, available with an incremental encoder, updates the current position of the moving part each time the recalibration on the fly input detects a rising edge in a positive direction or a falling edge in a negative direction.

It has been specifically adapted for axes where the moving part is susceptible to slip, or in other words where the position value no longer reflects the true position.

This function is confirmed in the configuration screen.

Recalibration on the fly function

When the event takes place, the axis control module preselects the current value to the RE_POS value and compares the current position with the recalibration value

RE_POS (%MDxy.i.43), defined in the recalibration screen (or by the program).

l If the comparison indicates that the current value is outside of the tolerances defined by RE_WDW (%MDxy.i.51), a fault is signaled: REC_FLT bit

(%MWxy.i.3:X12).

The moving part is not stopped:

Position

Recalibration on the fly input

REC_FLT fault

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Execution condition

Programming l l l

Recalibration on the fly function is enabled: referenced axis, in automatic, manual or loop control disabled mode, in Drv_Off mode, with a TSX CAY 22 / 42 module or TSX CAY 33 module.

Note: The value of the RE_WDW parameter must be much lower than the DMAX1 following error fault threshold.

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149

Programming

Movement slaved to another TSX CAY •1 axis

Introduction

Slaving

This function is used to slave the position of an axis (called the slave axis) to the position of another axis from the same module (called the master axis).

The master axis is always the axis 0. A 2 axis module can have one master axis and one slave axis. A 4 axis module can have one master axis and up to 3 slave axes.

This position tracking function is confirmed in the configuration screen. At programming level, the slave axis is slaved to the master axis when the SLAVE bit

(%Qxy.i.17) of this axis is set at 1. The %Ixy.i.36 bit indicates that the slave axis is operating in tracking mode.

An axis is slaved either to the measured position or to the master axis position setpoint (choice defined in configuration). A RATIO1 / RATIO2 ratio is applied in order to obtain the final setpoint. These 2 parameters are defined during configuration.

In order to indicate that the slave axis is tracking the master axis correctly, the

AT_PNT (%Ixy.i.9) bit of the slave axis is at 1 when the tracking error of the latter is lower than DMAX2.

For example, Ratio = 3/4, with slaving to the master axis setpoint.

Position

Master axis setpoint

Execution condition

3 / 4 Master axis setpoint = Slave axis setpoint t

0 l l l l

The master axis is configured.

The slave axis is referenced.

No blocking fault is detected.

The slave axis is in automatic mode.

l The master axis is in automatic or manual mode.

If the calculated setpoint overshoots the axis soft stops, the moving part stops and the command is refused.

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Important

Programming l l l

For the calculated slave axis position setpoint to be valid, you must make sure that the slave axis is already at the Master x RATIO position before switching this axis to slave mode.

Reference point commands on the master axis must be avoided when there are slave axes (risk of tracking error fault on the slave axis).

l l

In Tracking mode: l the TH_PNT, NEXT information bits are not managed, the PAUSE command is not active,

SMC modifications are not taken into account (SMC = 1000).

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151

Programming

Movement slaved to another TSX CAY •2 axis

Introduction

Slaving

This function is used to slave the position of an axis (called the slave axis) to the position of another axis from the same module (called the master axis).

The master axis is always the axis 0. A 2 axis module can have one master axis and one slave axis. A 4 axis module can have one master axis and up to 3 slave axes.

This position slave function is confirmed in the configuration screen. At programming level, the slave axis is slaved to the master axis when the SLAVE bit (%Qxy.i.17) of this axis is set at 1. The IN_SLAVE bit (%Ixy.i.36) indicates that the slave axis is operating in tracking mode.

An axis is slaved either to the measured position or to the master axis position setpoint (choice defined in the configuration screen). A RATIO1 / RATIO2 ratio and an Offset are applied to obtain the final setpoint. These 3 parameters are defined in the adjustment screen.

The slave axis is related to the master axis in the following way:

SlavePositionSetpoint = MasterPosition x (Ratio1 / Ratio2) + SlaveOffset

In order to indicate that the slave axis is tracking the master axis correctly, the

AT_PNT (%Ixy.i.9) bit from the slave axis is set at 1 when the slave has caught up with the master and remains close to it (tracking error of the latter is lower than

DMAX2) for more than TSTOP ms

Differences from the TSX CAY •1

Module

The tracking function of a TSX CAY•2 module differs from the TSX CAY •1 in the following ways: l the ratio can be modified from the application or by the PL7 in recalibration mode

(for the TSX CAY •1 module the ratio is set during configuration, l the offset enables to slave axis to slave itself to the master axis, whatever the master’s position. This allows object tracking applications to be set up where a tool-carrying axis has to be slaved to a permanently moving axis (conveyor) for the transportation of objects (glue application, etc.).

The offset value can be modified from the application or from the PL7 software in recalibration mode. The TSX CAY •2 module provides an alignment or locking device in order to avoid a ‘surprise’ during the switch to slave mode.

The function calculates the offset as follows:

SlavePosition = MasterPosition X Ratio + Offset

The configuration parameter Automatic offset is used to select the operating mode.

The signed ratio value advances from 0.01 and 100.

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Programming

Parameters associated with the master mode

- slave

The parameters of the master – slave mode are as follows: l %MWxy.i.29 (Ratio1) and %MW xy.i.30 (Ratio2) which determine the value of the l master – slave ratio,

%MDxy.i.55 (SlaveOffset) : offset value when the Automatic offset option has not been selected during configuration, l InternalSlaveOffset: offset value (calculated by the module and not accessible by the user) when the Automatic offset option has been selected during configuration,

Execution condition

For the

DRIVE_OFF mode l The master axis is configured in automatic or manual mode in the framework of l l l a setpoint follower.

The slave axis is referenced in automatic mode.

No blocking fault is detected.

The master axis must be referenced within the framework of a measurement follower (the master being situated indifferently in one of the 4 modes).

If the calculated setpoint overshoots the axis soft stops, the moving part stops and the command is refused.

SlavePositionSetpoint = MasterPosition (1) x Ratio1 / Ratio2 + SlaveOffset (or

InternalSlaveOffset)

(1) according to configuration.

This mode is used to slave a slave axis to a master axis. In this case, the slave is declared a measurement follower.

Meaning of the

AT_PNT bit and

DMAX2 parameter

The DMAX2 parameter defines the precision threshold.

This value is particularly useful in the object tracking applications where the slave axis goes into a recovery phase before satisfying the condition:

(MasterPosition x Ratio + Offset) - DMAX2 < or = (SlavePosition) < or =

MasterPosition x Ratio + Offset) + DMAX2

As soon as the condition is satisfied over a period at least equal to the value of the

T_STOP parameter, the AT_PNT bit takes the value 1, to signify that the slave axis has caught up.

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153

Programming

Important

Specifications l l l l l

For the calculated slave axis position setpoint to be valid, you must make sure that the slave axis is already at the Master x RATIO position before switching this axis to slave mode.

Reference point commands on the master axis must be avoided when there are slave axes (risk of tracking error fault on the slave axis).

l l

In Tracking mode: the TH_PNT, NEXT information bits are not managed, the PAUSE command is not active, l SMC modifications are not taken into account (SMC = 1000).

When a slave axis is slaved to a master axis, the slave tries to catch up with the master by the shortest possible route. For this reason, the tracking error must always be less than half the slave modulo value.

During configuration you can specify that the link between slave and master must be made with no movement.

In this case, the slave does not take the SlaveOffset parameter into account, and calculates an InternalSlaveOffset parameter (which is not communicated to the application), in order to inhibit all slave movements, at the point when it becomes a slave, while the master is immobile.

These applications are made up of: l l an infinite axis or "master axis" which moves continuously, an axis which is sometimes controlled by a master, and sometimes independent.

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Programming

Movement slaved to an external setpoint

Introduction

Example

This function is used to slave the position of an axis to a position written by an application program in the double word PARAM (%QDxy.i.2).

It provides a means of slaving an axis to a pre-programmed trajectory.

It can also be used to control a module axis so that the refresh rate of the slave axis setpoint is equal to the period of the task in which the modules are managed.

Setting the EXT_CMD (%Qxy.i.18) bit to 1 enables this function. The IN_EXT_CMD

(%Ixy.i.37) status bit indicates that the slave axis is effectively performing the tracking function.

In this mode with TSX CAY •2 and TSX CAY 33 modules, you can control the discrete event output:

Position

Measured axis position

Execution condition

Command

State l l l

This function is enabled if: the axis is referenced, no blocking fault is detected, the PARAM position is within the soft stops.

Note: You must check that: l the axis is already in the PARAM position before switching this axis to tracking mode, l PARAM is moving in a continuous and coherent fashion (risk of tracking error fault on the axis).

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Programming

Deferred PAUSE function

Introduction The PAUSE command (%Qxy.i.16) is used to suspend movement sequencing. It only becomes active when the moving part has come to a stop, or in other words at the end of a G09 or G10 instruction.

l l

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

When at 1, the ON_PAUSE (%Ixy.i.33) bit signals that the axis is in PAUSE state.

This function has 2 possible uses: block to block execution of the movement program, synchronizing axes from the same axis control module.

Block to block execution of the movement program

If the instruction in progress is an instruction with stop, activating the PAUSE command in the debugging screen in automatic mode, or setting the PAUSE

(%Qxy.i.16) bit to 1 puts the module in waiting status after the instruction in progress is finished: movement sequencing stopped.

The movements without stop are stopped when they are terminated by reaching the soft stop.

By successively activating and deactivating the PAUSE command it is thus possible to execute block to block movements in order to facilitate debugging.

Synchronizing several axes

Using the program to set the PAUSE bit (%Qxy.i.16) for each axis at 1 after the instruction in progress is complete puts the module in waiting status.

When the PAUSE bit is reset to 0, the module continues carrying out the instructions.

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Example

Programming

Execution of the movement of moving part 1 is stopped when moving part 0 reaches position 100000. Movement is reactivated when moving part 0 reaches 500000.

IF (%ID2.1 >= 100000) THEN SET %Q2.1.16;

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

IF (%ID2.1 >= 500000) THEN RESET %Q2.1.16;

Speed (mm / min)

100000 500000

0 Moving part

PAUSE Bit axis 1

1 Moving part

0

Time

Note: The PAUSE command is only processed when AUTO mode is active and when the position tracking functions are inactive.

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157

Programming

Step by step mode

Introduction

Activating step by step mode

This mode is used to execute a sequence of movements by stopping after each elementary instruction (step).

Movements without stop are thus transformed into movements with stop at the same value and speed (except for instruction G21, which never stops). For the G30 command, the speed used is the approach speed.

Step by step mode is activated by setting the MOD_STEP (%Qxy.i.19) bit to 1.

The ST_IN_STEP (%Ixy.i.39) bit indicates that the mode is active, or in other words that the command in progress has been modified to be executed in step by step mode.

A rising edge on the NEXT_STEP bit (%Qxy.i.22) is used to start the next step.

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Example 1 Step by step execution of the following profile:

SMOVE (1,90,01,X1,F1,M)

SMOVE (2,90,01,X2,F2,M)

SMOVE (3,90,09,X3,F3,M)

Vitesse

Cote

Programming

Temps

If a movement is in progress on request to go into step by step mode, the mode is entered at the start of the next movement.

However, the mode is exited immediately even if a movement is in progress.

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159

Programming

Example 2 Step by step execution of the following profile:

SMOVE (1,90,01,X1,F1,M)

SMOVE (2,90,01,X2,F2,M)

SMOVE (3,90,01,X3,F3,M)

SMOVE (4,90,09,X4,F4,M)

Speed

Time

Value

However, if the exit mode request is made during a deceleration, which corresponds to a transformed movement without stop, the mode is only exited on movement completion.

Note: The G05, G07 and G62 commands are performed in step by step,

The G32 command is not considered to be a step.

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Programming

Feed HOLD function

Introduction This function is used to stop the moving part in automatic mode, while ensuring that, on a resume movement command, it follows the programmed trajectory (with no risk of the command being refused).

Activating the function

The feed HOLD function is activated: l by the program: by assigning a value of 0 to the SMC word (%QWxy.i.1), speed modulation coefficient, l by the debugging screen: by assigning a value of 0 to the speed modulation coefficient parameter SMC.

It stops the moving part according to the programmed deceleration.

The feedhold status report is indicated by the IM_PAUSE bit (%Ixy.i.34).

Deactivating the function

The feed HOLD function is deactivated: l by the program: by reassigning the initial value (>0) to the SMC word, speed modulation coefficient, l By the debugging screen: by reassigning the initial value (>0) to the speed modulation coefficient parameter SMC.

It reinitializes the interrupted movement at a speed corresponding to:

F x SMC / 1000.

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161

Programming

Example Activating / deactivating the feed HOLD function:

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

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

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

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

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

Speed (mm / min)

Position

CMV

Position

Note: This command is deactivated on a STOP order or blocking fault.

For a movement without stop instruction, when, during a stop following a feed

HOLD command, the target position is overrun, the respective movement in progress is terminated. In this case, the trajectory is reset with the movement, which was queued in the stack.

The feed hold function is not activated when the movement in progress is a movement slaved to a position (slave axis or PARAM position follower).

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Programming

Event processing with an independent axis

Introduction The TSX CAY module channels are able to activate an event task.To do this, the function must have been enabled on the configuration screen by associating an event processing number with the channel.

Activating an event task

Variables that can be used by the event task

The following instructions trigger an event transmission, which activates the event task: l Movement until the event, codes 10 and 11:the event processing application is activated, on event detection.

l Await event, code 05:the event processing application is activated, on instruction completion.

l Storage of current position on event occurrence, code 07 :the event processing application is activated on completion of storage of the position PREF1 or l

PREF2.

Modulo crossing for an unlimited axis: the event processing application is activated on every modulo crossing during a movement.Event processing activation must be enabled by setting the VALIDEVTMOD parameter

(%MWxy.i.62:X0) to 1.

The event processing application is activated if bit 12 of parameter M of the SMOVE function associated with the instruction is set at 1.

l l l l l

If several event sources are chosen, the following bits are used to determine the source to trigger event processing application:

EVT_G1 (%Ixy.i.50): G10 or G11 end on event,

EVT_G05 (%Ixy.i.48): G05 end on event, l l

TO_G05 (%Ixy.i.49): G05 time-out elapsed,

EVT_G07 (%Ixy.i.47):Storage of position, l EVT_MOD (%Ixy.i.51):Modulo crossing.

The OVR_EVT bit (%Ixy.i.46) is used to detect a delay in event transmission or an event loss.

Value of the stored positions PREF1 (%IDxy.i.9) and PREF2 (%IDxy.i.11).

Note: The words and bits described below are the only values, which are refreshed during execution of an event task. They are only updated in the PLC on activation of the task.

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Programming

Event masking PL7 language offers 2 ways to mask events: l Instruction for global event masking:MASKEVT (UNMASKEVT is used for unmasking): l Bit %S38 = 0 (global event inhibition).%S38 bit is normally set to 1.

Summary diagram:

TSX CAY

Event task

EVTi

Processor

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Managing the operating modes

On module power-up

On module power-up or during run through, the TSX CAY module performs selftests with the outputs in safety position (outputs to 0).

On completion of the self-tests:

Self-tests Module

If the self-tests have not detected an error.

The module tests the configuration with the outputs in the safety position. If the configuration is correct, the module goes into measurement mode (OFF).

If the self-tests have detected an error or if the configuration is incorrect.

The module signals a fault and retains the outputs in the safety position.

PLC in RUN All the configured channel operating modes are useable.

Switching the

PLC from RUN to

STOP

On switching the PLC from RUN to STOP or on loss of processor / module communication, the moving part decelerates and stops and the module goes into measurement mode (OFF).

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

Change of configuration

(reconfiguration) l l l l l

The moving part decelerates and stops.

The channel deconfigures.

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

If the new configuration is correct, the module goes into measurement mode

(OFF).

If the configuration is incorrect, the module signals a fault and retains the outputs in the safety position.

Power outage and restart

On power outage, the moving part stops.

On a cold start or warm restart, the channel configuration is automatically sent to the module by the processor. The module goes into measurement mode (OFF) then into the mode requested by the program.

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Programming

Fault management

Introduction

Fault types

Fault monitoring is essential for position control, due to the inherent risks associated with active moving parts.

The module automatically carries out checks internally.

l l

The module detects 4 fault types: l The module faults.These are internal hardware faults within the module. All the axes controlled by the module are thus affected when this type of fault occurs.

They can be detected during self-tests (on module reset) or during normal operation (I/O fault).

Hardware channel faults external to the module (for example, encoder break).

Application channel faults associated with the axes (for example, tracking l error).

Faults are constantly checked at axis level once the axis is configured.

Command refused channel faults.These are the faults, which may occur during execution of a movement command, a configuration transfer, an adjustment parameter transfer or an operating mode change command.

Note: The axis monitoring parameters may enable or inhibit the checking of some faults.These monitoring parameters can be adjusted in the adjustment screen.

In loop control disabled mode (DIRDV), checking of application faults is inhibited,

In measurement mode (OFF), checking of application faults except soft stop faults, is inhibited

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Levels of severity

Fault programming

Fault signalling

Faults are classed according to 2 levels of severity: l The blocking or critical faults which cause the moving part to stop in the case l l l l of an axis fault or moving parts managed by the module in the case of a module fault.The following processes then occur: the fault is signaled, the moving part slows down until analog output is zero, deactivation of the variable speed controller enable relay, erasing of all stored commands, l wait for acknowledgment.

The fault must have disappeared and been acknowledged before the application can be re-started.

l Non-critical faults which cause a fault to be signaled without stopping the moving part. The action to be taken when this type of fault is encountered must be programmed in PL7.

The fault signal disappears when the fault has disappeared and has been acknowledged (the acknowledgment is not stored and only comes into effect if the error has disappeared).

Faults can be viewed, corrected, and acknowledged from the debugging screen.

However it can be useful to be able to control the moving part and correct faults from a terminal during operation. For this purpose, all the information and commands necessary are available within the application.

The module offers a wealth of information in the form of bits and status words, all l l accessible through the PL7 program. These bits are used to process faults in hierarchical order: to act on the main program, to simply signal the fault.

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Programming

Levels of signalling

2 signalling levels are provided:

First level:general information

Bit

%Ixy.i.ERR

AX_OK (%Ixy.i.3)

AX_FLT (%Ixy.i.2)

HD_ERR (%Ixy.i.4)

AX_ERR (%Ixy.i.5)

CMD_NOK (%Ixy.i.6)

Error

Channel fault

No blocking fault (with moving part stop) is detected

Fault (for all faults)

External hardware fault

Application fault

Command refused

Second level:detailed information

Module and axis fault status words (%MWxy.i.2 and %MWxy.i.3)

Note: With a blocking fault, it is advisable to stop the sequential processing which is associated with the axis, and correct the fault by controlling the moving part in manual mode.Correction of the fault must be followed by a fault acknowledgment.

Fault acknowledgment

When a fault appears: l The fault bits AX_FLT, HD_ERR, AX_ERR and the status word extract bits affected by the fault are put in position 1.

l If it is a blocking fault, the AX_OK bit is set at 0.

When the fault disappears, all fault bits retain their current status.A fault is stored until acknowledgement is obtained by setting the ACK_DEF %Qxy.i.8 bit to 1 (or by resetting the module).The acknowledgment has to be made after the fault has disappeared (except for soft stop errors)

If several faults are detected, the acknowledgment order will only act upon faults which have actually disappeared.Faults that are still present must acknowledged again after their disappearance.

Note: Faults can also be acknowledged on PLC initialization, or when a new correct command is accepted in the case of a command refused fault

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Summary table of the different fault types

Description of channel faults

The following table summarizes the different fault types and associated bits:

Channel fault

(Bit %Ixy.i.ERR)

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

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

External hardware

(HD_ERR bit:%Ixy.i.4)

Application (AX_ERR

Bit:%Ixy.i.5)

Command refused

(CMD_NOK bit:%Ixy.i.6)

Fault coding in the CMD_FLT word:%MWxy.i.7

l l l l l

Internal

Communication

Configuration

External hardware

Configuration or adjustment l l l l l l l

Emergency stop

Drive

Encoder break

Analog output short circuit

Auxiliary output short-circuit

Encoder supply

Absolute encoder frame l l l l l l l

Soft stops

Overspeed

Recalibration (*)

Tracking error

MAX_F1

Tracking error

MAX_F2 (*)

Stopping fault (*)

Target window (*)

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

l l l

The %Ixy.i.ERR bit covers all faults at channel level:

Internal error (%MWxy.i.2:X4):module absent, inoperative, or in self-test mode.

Communication fault (%MWxy.i.2:X6):processor communication fault.

Configuration fault (%MWxy.i.2:X5):difference between the module position declared in the configuration and the current position.

Note: In order to be updated, the %MW words require a READ_STS command.

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Description of external hardware faults

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

Emergency stop The following table shows the cause, the signal and the solution if an Emergency

Stop fault should occur:

Cause

Parameter

Result

Signalling

Solution

Open circuit between 24 V and the "Emergency Stop" input on the front panel of the module

None

Moving part is forced to stop

EMG_STP bit (%MWxy.i.3:X5) (1)

Reestablish the input connection at 24 V then acknowledge the fault.

Drive The following table shows the cause, the signal and the solution if a Drive fault should occur:

Cause

Parameter

Result

Signalling

Solution

Open circuit between 24 V and the "Drive fault" input on the front panel of the module

None

Moving part is forced to stop

DRV_FLT bit (%MWxy.i.3:X2) (1)

Eliminate the drive fault then acknowledge the fault

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Encoder break

Programming

The following table shows the cause, the signal and the solution if an Encoder

break fault should occur:

Cause

Parameter

Result

Signalling

Solution

Discrepancies in information from the encoder

None

The axis stops being referenced (in the case of an incremental encoder). Moving part is forced to stop

ENC_BRK bit (%MWxy.i.3:X4) (1)

Reestablish the affected encoder link then acknowledge the fault

Note: When there is an encoder link fault, the module stops taking measurements.

With an absolute encoder, pulse sequences stop being sent out on the CLK line, until the fault disappears and is acknowledged.

Analog output short-circuit

The following table shows the cause, the signal and the solution if an Analog output

short circuit fault should occur:

Cause

Parameter

Result

Signalling

Solution

Short circuit detected on one of the analog inputs of the module

None

Moving part is forced to stop

ANA_FLT bit (%MWxy.i.3:X0) (1)

Eliminate the short circuit then acknowledge the fault

Auxiliary output short-circuit

The following table shows the cause, the signal and the solution if an Auxiliary

output short-circuit fault should occur:

Cause

Parameter

Result

Signalling

Solution

Short circuit detected on one of the auxiliary outputs of the module

None

Moving part is forced to stop

AUX_FLT bit (%MWxy.i.3:X1) (1)

Eliminate the short circuit then acknowledge the fault.

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Encoder supply The following table shows the cause, the signal and the solution if an Encoder

supply fault should occur:

Cause

Parameter

Result

Signalling

Solution

There is no longer any power supplied to the encoder

None

The axis stops being referenced (in the case of an incremental encoder). Moving part is forced to stop

ENC_SUP bit (%MWxy.i.3:X3) (1)

Reestablish the connection then acknowledge the fault

Absolute encoder frame

The following table shows the cause, the signal and the solution if an Absolute

encoder frame fault should occur:

Cause

Parameter

Result

Signalling

Solution

SSI Frame fault: parity or error bit

None

Moving part is forced to stop

ENC_FLT bit (%MWxy.i.3:X7) (1)

Eliminate the fault then acknowledge the fault

24 V supply

Note (1)

The following table shows the cause, the signal and the solution if an 24 V supply fault should occur:

Cause

Parameter

Result

Signalling

Solution

24 V supply fault

None

Moving part is forced to stop

AUX_SUP bit (%MWxy.i.3:X6) (1)

Reestablish the connection then acknowledge the fault

In order to be updated, the %MW words require a READ_STS command.

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Description of Application Faults

Introduction

Soft stops

These faults are indicated by the AX_ERR bit (%Ixy.i.5). The parameters can be accessed by the Adjustment screen of the configuration editor. There is no fault checking associated with the soft stops for the unlimited axes (modulo).

The following table shows the cause, indication and the solution if a Soft stops fault should occur. This is a blocking fault and cannot be deactivated.

Cause

Parameter

Result

Indication

Remedy

The moving part is no longer situated between the 2 thresholds: lo and hi software limits (this check is activated as soon as the axis is referenced)

Software hi limit: SL_MAX (%MDxy.i.31)

Software lo limit: SL_MIN (%MDxy.i.33)

Moving part is forced to stop

%MWxy.i.3:X8 bit: Software hi limit exceeded

%MWxy.i.3:X9 bit: Software lo limit exceeded

Acknowledge the fault and in manual mode release the moving part outside of the soft stops within the valid measurement space. To do this you must check: l l l l l that there is no movement in progress, that manual mode is selected, that the STOP command is at 0, that the axis on which this command is carried out is referenced, that there is no other fault with stop on the axis.

The moving part can either be repositioned manually or by using the

JOG+ and JOG- commands.

Overspeed The following table shows the cause, the signal and the solution if an Overspeed fault should occur. This is a blocking fault and can be deactivated.

Cause

Parameter

Result

Indication

Remedy

On one of the axes, the speed of the moving part has exceeded the increased max. speed of the overspeed threshold: VMAX (1 +

OVR_SPD)

Overspeed threshold OVR_SPD (%MWxy.i.23). If this parameter is equal to 0, the monitoring is inhibited.

The moving part is stopped

%MWxy.i.3:X10 bit

Acknowledge the fault

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Programming

Stop The following table shows the cause, the signal and the solution if a Stop fault should occur. This is a non-blocking fault and can be deactivated.

Cause

Parameter

Result

Indication

Remedy

As soon as the speed setpoint value calculated by the module becomes equal to 0, the module activates a T_STOP time-out: l l

If this parameter is equal to 0, the fault monitoring is inhibited.

If this parameter is different from 0, when the time-out has elapsed, the module compares the moving part’s measured speed with the stop speed S_STOP. If the measured speed is greater than

S_STOP, the module indicates a stop fault.

T_STOP (%MWxy.i.25): maximum delay for detecting a stop

S_STOP (%MWxy.i.24): speed at which moving part is considered to be at a stop the fault is signaled

%MWxy.i.3:X14 bit

Eliminate the drive fault or perform further adjustments then acknowledge the fault

Target window The following table shows the cause, the signal and the solution if a Target window fault should occur. This is a non-blocking fault and can be deactivated.

Cause

Parameter

Result

Indication

Remedy

When a movement to a position with stop is requested, the module checks that the position reached corresponds to the requested position, according to the theoretical stop, using a tolerance that you defined in the parameter TW (Setpoint – TW <= measurement <=

Setpoint + TW)

If this parameter is equal to 0, the check is inhibited

TW (%MDxy.i.49): target window

If the moving part is not in the target window, the fault is signaled

%MWxy.i.3:X13 bit: target window fault

Check the control loop then acknowledge the fault

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Recalibration

Zero latch presence monitoring

Programming

The following table shows the cause, the signal and the solution if a Recalibration fault should occur. This is a non-blocking fault and can be deactivated.

Cause

Parameter

Result

Indication

Remedy

During a recalibration event, the error between the current position and the recalibration reference value is higher than the recalibration threshold

The check is inhibited if you have chosen the Recalibration function missing configuration parameter

RE_WDW (%MDxy.i.51): recalibration deviation threshold

RE_POS (%MDxy.i.43): recalibration reference value

If the deviation exceeds the threshold, the fault is signalled

%MWxy.i.3:X12 bit: recalibration fault

Check the control loop then acknowledge the fault

The following table shows the cause, the signal and the solution if a Zero Pulse

Presence Monitoring fault should occur.

Cause

Parameter

Result

Indication

Remedy

During a reference point short cam with zero pulse

None

The axis stops

%Ixy.i.6 bit

%MWxy.i.7word = 16#0015 (CMD_FLT)

Mechanically adjust the cam then restart the operation

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Programming

Movement monitoring

The following table shows the cause, the signal and the solution if a Movement

monitoring fault should occur: This is a blocking fault and can be deactivated.

Cause

Parameter

Result

Indication

Remedy

When the analog output from a channel exceeds a VLIM limit (in absolute value), a time delay is activated

When T is reached, a fault is signaled if the position value is the same as that of the internal cycle of the module

VLIM limit analog output: %MWxy.i.27

The time-out T is programmed to TACC / 2. TACC is the acceleration adjustment parameter (%MWxy.i.26)

If the fault is detected the moving part is stopped (analog output set to

0 and speed control authorization relay open)

The check is only enabled if VLIM > 0

%MWxy.i.3:X11 bit: MAX_F1 deviation exceeded

Check the control loop then acknowledge the fault

Note: Movement monitoring is active in direct control, manual and automatic modes.

Following error The following table shows the cause, the signal and the solution if a Tracking error fault should occur. The MAX_F1 fault is a blocking fault and can be deactivated. The

MAX_F2 fault is a non-blocking fault and can be deactivated.

Cause

Parameter

Result

Indication

Remedy

During a movement, the module compares the measured position of the moving part. A fault is signalled when the tracking error becomes higher than the maximum authorized error that you defined

Abnormal non-critical following error MAX_F2 (%MDxy.i.47)

Abnormal critical following error MAX_F1 (%MDxy.i.45)

If these parameters are at 0, monitoring is inhibited.

If the MAX_F2 error is exceeded, the fault is signalled

If the MAX_F1 error is exceeded, the moving part is stopped. This fault is only taken into account if MAX_F1 is different from 0

%MWxy.i.3:X15 bit (MAX_F2 error exceeded)

%MWxy.i.3:X11 bit (MAX_F1 error exceeded)

Check the control loop then acknowledge the fault

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Description of command refused faults

Introduction

Command refused

A command refused fault is generated each time a command cannot be executed.

This command is either not compatible with the axis state, with the mode in progress or at least one of the parameters is not valid.

These faults are indicated by the Refus Cde LED on the debugging screens. At channel level, the DIAG key allows you to identify the source of the command refusal. This information can also be accessed by the program with the CMD_NOK

(%Ixy.i.6) bit and CMD_FLT (%MWxy.i.7) word.

The following table shows the cause, indication and the solution if a Command

Refused fault should occur.

Cause

Parameter

Result

Signalling

Solution

Unauthorized movement command

Transfer of invalid configurations or parameters

None

Immediate stop of movement in progress

Buffer memory, which receives movement commands in automatic mode, is reset to 0.

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

CMD_FLT (%MWxy.i.7) word: type of fault detected l l

Least significant byte: movement commands,

Most significant byte: configuration and adjustment parameters.

When a new command is received and accepted, acknowledgment is implicit.

Acknowledgment is also possible via the ACK_DEF (%Qxy.i.8) command

Note: For movement sequences in automatic mode, it is advisable to make the execution of each movement conditional upon the end of the previous movement, and the AX_FLT (%Ixy.i.2) bit. This will prevent the following command being carried out when the present command has been refused.

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Programming

Managing manual mode

Introduction

Manual mode selection

Execution of manual commands

Manual mode can be selected and controlled from the debugging screen, but also via the application program from the front panel or human-machine interface/ monitoring terminal.

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

Manual mode is selected by assigning the value of 2 to the MOD_SEL (%QWxy.i.0) word.

Switching from the current to manual mode forces the moving part to stop of there is a movement in progress. Manual mode is engaged as soon as the moving part has stopped.

When the command to switch to manual mode is taken into account, the IN_MANU

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

Elementary commands associated with manual mode and accessed via command bits %Qxy.i.j are as follows: l Visual movement in positive direction JOG_P (%Qxy.i.1) and in negative l direction JOG_M (%Qxy.i.2).

Incremental movement in positive direction INC_P (%Qxy.i.3) and in negative direction INC_M (%Qxy.i.4).

l l

Manual setpoint SET_RP (%Qxy.i.5).

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

These commands are the same as those that can be accessed from the referenced axis TSX CAY module debugging screen.

Manual commands:

Commands

JOG -

INC -

JOG +

INC +

Manual Reference Point

Forced Reference Point

Auxiliary output

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General execution conditions for commands in manual mode

Programming l l l l

The following conditions must be fulfilled in order to carry out commands in manual mode:

Target position within soft stops.

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

No command in progress (DONE bit: %Ixy.i.1 = 1).

STOP (%Qxy.1.15) command inactive and ENABLE (%Qxy.i.9) bit for variable speed controller safety relay set to 1.

Note: Except for, in the case of soft stop fault, JOG_P and JOG_M commands and after fault acknowledgment.

Movement stop l l l

A movement stop can be caused by: l Appearance of a STOP (%Qxy.i.15) command or the ENABLE (Qxy.i.9) bit being set to 0.

Appearance of a blocking fault.

Change in operating mode.

Receiving a configuration.

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Programming

Visual movement commands

Introduction To carry out a movement visually, you must use the manual commands JOG_P and

JOG_M.

The JOG_P (%Qxy.i.1) and JOG_M (%Qxy.i.2) bits give the command for the moving part to move in a positive or negative direction. The operator must visually follow the position of the moving part. Movement occurs as long as the command is present, and a STOP command or a fault does not inhibit the command.

For limited axes, the JOG_P and JOG_M commands cause an automatic stop at the latest at a distance from the soft stops equal to the target window distance.

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

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Movement speed Movement occurs at the speed of the manual mode MAN_SPD, defined in the adjustment screen (or in the double word %MDxy.i.35).

The speed can be modulated during a movement via the SMC coefficient

(%QWxy.i.1).

Any movement speed greater than VMAX (maximum axial speed defined in configuration) is limited to the value of VMAX.

Speed of moving part:

Speed

Time

Time

Time

Notes on JOG_P and JOG_M commands l l

JOG_P and JOG_M commands are used to release the moving part when a soft stop fault is detected. This happens after prior acknowledgment of the fault.

If the JOG_P or JOG_M bit is set to 1 during operation in manual mode, this command is ignored. It will only be taken into account after the bit has been set at 0 then reset to 1.

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Programming

Incremental movement commands

Introduction INC_P and INC_M manual commands must be used to carry out an incremental movement.

INC_P (%Qxy.i.3) and INC_M (%Qxy.i.4) bits give the command for movement by incrementation of the position of a moving part in a positive or negative direction.

The value of the PARAM position increment is entered either in the %QDxy.i.2 double word or in the debugging screen of the TSX CAY module.

In addition to the general execution conditions in manual mode, the INC_P and l l

INC_M commands are active on a rising edge when: the axis is referenced for limited run-time machines.

The target position is between the soft stops.

Movement speed Movement occurs at the speed of the manual mode MAN_SPD, defined in the adjustment screen (or in the double word %MDxy.i.35).

The speed can be modulated during a movement via the SMC coefficient

(%QWxy.i.1).

Any movement speed greater than VMAX (maximum axial speed defined in configuration) is limited to the value of VMAX.

Speed of moving part:

Speed

182

Time

Time

Time

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Programming

Reference point command

Introduction If an incremental encoder is being used, a reference point can be set with the

SET_RP command.

Bit SET_RP (%Qxy.i.5) carries out a manual reference point with movement.

The type and direction of the reference point are set in the Reference Point parameter on configuration. The source value is set on the adjustment screen by the

PO Value parameter (or by the RP_POS double word) %MDxy.i.41).

Approach speed Approach speed is the manual speed MAN_SPD set on the adjustment screen (or by %MDxy.i.35 double word) multiplied by the CMV speed modulation coefficient.

The speed of the reference point varies according to the type of reference point chosen.

Any movement speed greater than VMAX (maximum axial speed defined in configuration) is limited to the value of VMAX.

Example: short cam only and + direction

Speed

Cam

Time

Time

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Programming

Forced reference point command

Introduction If an incremental encoder is being used, a forced reference point can be set with the RP_HERE command.

The RP_HERE (%Qxy.i.6) forces a reference point without movement to the value set in the PARAM parameter. This value is entered either in the %QDxy.i.2 double word or in the debugging window for the TSX CAY module.

The forced reference point command references the axis without generating a movement.

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

The value of the PARAM parameter must be between the soft stops.

All blocking faults are tolerated while this command is being carried out (except for an encoder break fault).

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Programming

Cancel references command

Introduction If an absolute encoder is being used, a reference point can be canceled using the

SET_RP command.

Cancellation of references needs to be carried out before a reference command can be given.

An edge on the SET_RP(%Qxy.i.5) bit is used to change the axis to a nonreferenced state, in order to be able to shift the moving part without provoking a soft stop fault. However it is not possible to overshoot, in either direction, to a position outside the measurement area of the absolute encoder.

Parameter ABS_OFF (%MDxy.i.53) is forced to 0

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Programming

Referencing and offset calculation command

Introduction

Assisted offset

If an assisted offset absolute encoder is being used, referencing and offset calculations can be set using the RP_HERE command.

An edge on the RP_HERE (%Qxy.i.6) bit is used to change the axis to a referenced state.

If the encoder has been declared in assisted offset mode (any reference must be cancelled), the offset is recalculated at the current point as being at position defined in the PARAM parameter. This position is entered either in the %QDxy.i.2 double word or in the debugging screen of the TSX CAY module.

In this case, it is essential to force adjustment parameters to be saved so as not to l l lose them on restart:

Either use Save parameters from the adjustment screen.

Or via the application by calling the SAVE_PARAM function.

Note: The value of PARAM must be between the soft stops.

The offset calculation is refused if an adjustment is in progress or if the axis is referenced.

If resolution is modified, the offset must be recalculated.

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Programming

Managing loop control disabled mode (DIRDRIVE)

Introduction DIRDRIVE (loop control disabled) mode is used to free the axis from slave mode.

The axis acts as a digital/analog converter (D/A converter) and the position loop is inoperative.

Axis behavior can be analyzed independently of the process control loop.

Selection of loop control disabled mode

Loop control disabled mode is selected by assigning the value of 1 to the MOD_SEL

%QWxy.i.0 word.

When a change of mode is requested, the moving part first stops then the mode is actually changed. When the command to change to loop control disabled mode is taken into account, the IN_DIRDR %Ixy.i.21 bit is set to 1.

Execution of commands in loop control disabled mode

The loop control disabled mode features the movement command DIRDRV

%Qxy.i.0.

The drive is controlled at a voltage of between -UMAX and +UMAX (the value UMAX is defined in the configuration screen). It is expressed in mV. Application of this setpoint is rounded off into multiples of 1.25 mV (For example, if 1004 mV is requested, the setpoint will be rounded down to 1003.75 mV, and the display screen will show 1003 mV).

The voltage setpoint is periodically sent by the variable PARAM %QDxy.i.2. The variable sign gives the direction of movement. The software fault checks are inhibited (excepted for soft stop checks if the axis is referenced).

In order to protect the mechanics during a setpoint change, the acceleration/ deceleration value is respected when switching to a new value.

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187

Programming

Speed law On a setpoint change, the output reaches the new setpoint according to a trapezoidal speed law, while respecting the parametered acceleration.

Speed (mm / min)

Setpoint applied

Time

Time

Execution of

DIRDRIVE command

Movement stop

The general execution conditions for a DIRDRIVE function are as follows: l l

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

STOP (%Qxy.i.15) command inactive and ENABLE (%Qxy.i.9) bit for variable l speed controller safety relay set to 1.

Voltage parameter PARAM (%QDxy.i.2) between – UMAX and +UMAX for selected axis.

l l l

A movement stop can be caused by: l Appearance of a STOP command or ENABLE (Qxy.i.9) bit for variable speed controller safety relay set to 0.

Appearance of a blocking fault or a soft stop fault.

Change in operating mode.

Receiving a configuration.

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Programming

Managing measurement (OFF) mode

Introduction

Selection of measurement mode

The measurement mode must be used each time the moving part has to pass outside module control (moving part moved by hand or controlled by an exterior device). In this mode the module remains passive, but continues to update the position (%IDxy.i.0) and current speed (%IDdxy.i.2) information bits.

Measurement mode is selected by assigning the value of 0 to the MOD_SEL

%QWxy.i.0 word.

The module also selects measurement mode while the PLC is in STOP mode. By default, it is selected following channel configuration.

Execution of commands in measurement mode

OFF mode is not associated with any movement commands.

Movement of the moving part is not monitored and software fault checks are inhibited (except soft stop checks). The position loop is inoperative.

The variable speed controller enable relay is unlocked whatever the status of the

ENABLE (%Qxy.i.9) bit.

Modules

TSX CAY 22/42 and TSX CAY 33 l l

The AUX_OUT (%Qxy.i.11) command is used to control the auxiliary output.

The RP_HERE command can be executed in measurement mode.

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189

Programming

190

TLX DS 57 PL7 xxE

Adjusting independent axes

6

Introduction

Subject of this section

What’s in this

Chapter?

This section describes the principle of parameter adjustment: accessing screens, description of parameters and adjustment procedure.

This Chapter contains the following Maps:

Topic

Preliminary operations prior to adjustment

Adjusting the inversion parameter

Accessing adjustment parameters

Adjusting the encoder offset

Adjusting resolution description of loop control parameters

Adjusting Loop Control Parameters

Description of movement control parameters

Description of Command Parameters

Description of stop control parameters

Adjustment of monitoring parameters

Description of manual mode parameters

Parameters Associated with Master / Slave Axes

Confirming adjustment parameters

Saving / Restoring adjustment parameters

Reconfiguring in online mode

213

214

216

217

218

206

208

211

212

Page

192

194

195

197

198

200

203

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Adjustment

Preliminary operations prior to adjustment

Preliminary conditions

Preliminary checks l l l l l

TSX CAY module(s) installed in PLC.

Axis control application(s) connected to the TSX CAY module(s).

Terminal connected to the PLC by the terminal port or the network.

Configuration and axis control program completed and transferred to the PLC processor.

PLC in RUN. It is advisable to inhibit the movement command application program (by using, for example, a program execution condition bit) in order to facilitate the adjustment operations.

l l l l

Check the connections.

Check that the movements can occur safely.

Check that the mechanical stops are connected in accordance with safety regulations (they generally act directly on the variable speed controller supply sequence).

Check the direction of the tachymetric dynamo connection.

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TLX DS 57 PL7xx

Adjusting the variable speed controller

Adjustment

The variable speed controller can be adjusted by following the manufacturer’s instructions. To do this, connect up a control box instead of the axis control module.

Adjusting the current loop

Step

1

2

Action

Modify the maximum current value provided by the variable speed controller to a value accepted by the motor (dissipation switching) and by the mechanics

(accelerator torque)

Adjust the current loop stability

Adjusting the speed loop

2

3

Step

1

Action

Adjust the maximum operating speed Allocate a setpoint to the variable speed controller equal to the Maximum operating voltage (UMAX)

Adjust the speed loop gain

Adjust the offset

Adjusting current limitation according to speed

Step

1

2

Action

Reconnect the axis control module when adjustment is complete.

Readjust the current loop

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Adjustment

Adjusting the inversion parameter

Adjustment procedure

Action to be taken

Determine the inversion parameter as follows: l l l l

Select Debug mode.

Select DIRDRIVE loop control disabled mode.

Acknowledge faults: Acq. button in the Faults zone.

l l

Enter details in succession into the PARAM field in accordance with the following table:

+100 mV (positive analog output),

-100 mV (negative analog output).

The following table shows the action to be taken, according to the change in position and value. This depends on the voltage (positive or negative) which has been defined for the analog output:

Analog output

Positive

Positive

Positive

Positive

Negative

Negative

Negative

Negative

Position

Increase

Increase

Decrease

Decrease

Decrease

Decrease

Increase

Increase

Measurement Action to be taken

Increase None (connection OK)

Decrease

Decrease

Increase

Invert the measurement

Invert the setpoint

Invert the setpoint and the measurement

Decrease

Increase

Increase

Decrease

None (connection OK)

Invert the measurement

Invert the setpoint

Invert the setpoint and the measurement

Note: If the offset is greater than 100 mV, you must first adjust it before proceeding.

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Adjustment

Accessing adjustment parameters

Introduction

Accessing parameters

Access the adjustment parameters using the Adjustment command from the View menu on the TSX CAY module configuration screen. You may also select

Adjustment from the scroll-down list in the module zone of the configuration or debug screen.

The adjustment screen is used to select the channel to be adjusted, and gives access to current or initial parameters:

TSX CCY 22 [RACK 0 POSITION 3]

Adjust

Designation : 2 CHAN. AXIS CONT MOD.

Symbol :

Choose axis:

Chan.

Function :

Position control

F7 pls/ DIAG...

This table describes the following commands:

Command

Choose Axis

Function

This scroll-down list is used to choose the channel to be adjusted: channel 0 to channel 3

This icon allows you to display either the current parameters or the initial parameters. This function can also be performed using the F7 key.

Initial parameters

The initial parameters are: l Parameters entered (or defined by default) in the configuration screen in offline mode. These parameters have been confirmed in the configuration, and l transferred into the PLC.

Parameters taken into account during the last reconfiguration in online mode.

These parameters cannot be modified from this screen. On the other hand, they can be updated using the current parameters.

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Adjustment

Current parameters

Saving parameters

Current parameters are those which have been modified and confirmed from the adjustment screen in online mode (or by program via an explicit exchange). These parameters are replaced by the initial parameters after a cold restart.

Adjustment parameters

Note: It is mandatory to save adjustment parameters after they have been determined.

The lower part of the adjustment screen displays the adjustment parameters:

Corrected resolution

Distance

Nb points

8000

10

Correction

Movement control

Following error 1

Following error 2

Recalibration position

10 000

10 000 mm mm mm 0

Recalibration deviation

Overspeed

VLim

Manuel mode parameters

Speed

Réf.point value

25 000

250 000

12

0

0 mm

% of Smax mV m/min mm

Position loop

Gain 1

Gain 2

Threshold1-2

1 000

1 000

500

/100s Offset

/100s

Feed

Forward

/1000 S/max.

Ti

Command

Software Hi limit

Software Lo limit

Acceleration

Smax / 0 ms

1 000 000

0 mm mm

Acceleration profile rectangle

Stop Control

Delay 500

Speed 2500

Target

Window ms m/min

10 000 mm

Slave axis 0

Ratio

-1x

Offset

0

0 mm

0 mV

10

0

% ms

0

To view the entire adjustment parameter zone, the View

→

Module zone and View

→

Channel zone commands must be deselected. To restore these zones, use the same commands.

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TLX DS 57 PL7xx

Adjustment

Adjusting the encoder offset

Introduction

Encoder offset

This parameter is concerns absolute encoders only. It is used to make the real position of the moving part coincide with the position provided by the encoder (shift from zero).

l In direct offset the offset value must be entered, expressed in encoder points, l into the ABS_OFF parameter.

In assisted offset , use the RP_HERE and SET_RP commands.

This parameter can only be modified if direct offset has been chosen in the configuration.

The encoder offset is defined as follows:

Encoder offset = value to be added (expressed in number of encoder points) to the measurement provided by the absolute encoder, in order to obtain the real measurement.

Limits are as follows: -2

n-1

+ 1 to 2

n-1

- 1, where n= number of absolute encoder data bits.

Note: The encoder offset parameter is adjusted in measurement mode

(DRV_OFF).

If the absolute encoder has been declared in assisted offset, this parameter is not taken into account. The assisted offset procedure is used to avoid having to make any calculations. However, after reading READ_PARAM, SAVE_PARAM or saving parameters, the encoder offset value reflects the offset used by the channel.

Example If the absolute encoder shows a measurement of 100 mm for position 0 and the resolution is 2 microms, the offset value is:

-100000 / 2 = -50000 encoder points.

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Adjustment

Adjusting resolution

Introduction This adjustment is used to compensate for error resulting firstly from imprecise entry of configuration parameter values, and secondly from imperfections in the kinematics string.

Resolution adjustment screen

Corrected resolution

8000

Distance

Counts

Encoder offset

10

Correction

0 pulses

Adjustment procedure

Perform the following operations on the TSX CAY Debug screen:

4

5

2

3

Step

1

6

Action

Select Manual mode

Create a manual reference point if the encoder is of incremental type

Choose Theoretical distance as the value to run which corresponds to the greatest possible range of movement: position 1 and enter this value into the

Param field (e.g. 300,000 microm)

Give the Inc- or Inc+ command depending on the direction of movement

Measure, with a sufficiently precise external device, the distance actually covered by the moving part (Observed distance)

Change to measurement mode DRV_OFF

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TLX DS 57 PL7xx

TLX DS 57 PL7xx

8

9

Adjustment

Carry out the following operations from the Adjustment screen:

Step

7

Action

Press the Correction button, which displays the following dialog box :

Resolution Correction

Theorical distance:

Observed distance:

OK Cancel

0

0 l l

Enter the distance to be covered in the Theoretical distance field. For example: 300,000 microm.

Enter the distance done in the Observed distance field. For example:

293,000 microm

Press OK to activate the automatic resolution calculations. The new Distance and Nbre points values are then re-calculated.

Repeat steps 2, 3, 4 and 5. If the distance measured reveals a deviation below requirements, then adjustment is finished. If this is not the case, carry out a new correction (steps 7 and 8).

Note: If you modify the Initial resolution and VMAX parameter values after adjusting the resolution, it is mandatory to resume the adjustment.

In general, modifying any configuration in offline mode means that the resolution must be re-adjusted in online mode.

199

Adjustment

Description of loop control parameters

Introduction The following parameters are used to adjust the position loop:

Position loop

Gain 1

Gain 2

1 to 2 threshold

1000 /100s

1000 /100s

500 /1000 of Vmax

Offset

Feed forward

Ti

0 mV

10 %

0 ms

Position control loop

The following synoptic shows the position control loop:

Speed setpoint Feed

forward

Setpoint offset

Creating

References

Position setpoint

Gain 1

Gain 2

Ti (1)

Gain threshold

(1) Integral action active on stop only

CNA setpoint

Position measurement

Position and speed references are created according to the movement which is required (e.g. speed, target position), and the parameters which have been defined in the Adjustment screen.

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TLX DS 57 PL7xx

Adjustment

Description of

Gain Parameters

This table describes the gain parameters:

Parameter

Gain 1 and Gain 2

Threshold of 1 to 2

Significance

Position loop gains (from 50 to 12,000 1/100 s).

By default: Gain 1 = Gain 2 = 1000 1/100 s

The axis control module uses the 2 gain values: l Gain 1: gain value for low operating speeds. This value is used to obtain very slight position deviations.

l Gain 2: gain value for high operating speeds. This value is used to avoid overshoot and instability.

Gain switching threshold (from 20 to 500 per thousand VMAX)

By default: Gain threshold = 500 per thousand VMAX

Position gain The applied position gain is as follows: l l l

If the current speed > = 3 x Threshold / 2, Gain = Gain 2

If 3 x Threshold / 2 > current speed> = Threshold / 2, Gain = (Gain 1 + Gain 2) / 2

If current speed < Threshold / 1, Gain = Gain 2

This drawing shows gain value according to current speed:

Gain

G1

1/2(G1+G2)

G2

Threshold / 2 Threshold 3 x Threshold / 2

Speed

Proportional

Gain Coefficient

The axis control module calculates the KP proportional gain coefficient on the basis of the Gain adjustment: KP = C x UMAX x Gain

C = constant, and UMAX = variable speed controller setpoint value in order to obtain the speed VMAX (UMAX < 9 V).

Note: In general, Gain 1 = Gain 2.

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201

Adjustment

Description of

Feed Forward

Parameter

This table shows the feed forward parameter:

Parameter

Feed forward

Significance

Feed forward adjustment coefficient (from 0 to 100%).

By default: Feed forward = 10%

The feed forward coefficient is expressed as a percentage. 100% corresponds to the value, which can completely absorb the position error at constant speed for a variable speed controller without continuous error.

When the feed forward coefficient rises, the position error is reduced. However this results in a risk of overrun, including when approaching the breakpoint. A compromise must therefore be found.

Note: In certain cases, the position error crosses a minimum threshold with a change of sign if the feed forward rises.

Description of

Offset Parameter

This table describes the offset parameter:

Parameter

Offset

Significance

Offset adds to the analog output value calculated by the loop (from –

250 mV to +250 mV).

By default: Offset = 0 mV

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TLX DS 57 PL7xx

Adjustment

Adjusting Loop Control Parameters

Introduction Adjusting the controls requires you to enter particular values for certain operating parameters. The values of the other parameters are defined by the application.

To do this, enter these parameters in the adjustment screens, then confirm in order to send the parameters to the axis control module.

Initial Operation This operation involves entering a forced reference point in Manual mode.

l l

The forced reference point allows there to be a referenced axis from start-up, and thus enables the following checks and functions: software limits, clearing outside software limits.

Note: Operation will only be correct if the direction of the moving part is the same as that of the measurement.

Forced

Reference Point

Procedure

To create a forced reference point, carry out the following operations:

Step

1

2

3

4

5

Action

Select the TSX CAY Debug screen

Select Manual mode

Acknowledge faults using the Ack. command

Using an external device, measure the position of the moving part in relation to the reference point cam (approximate measurement)

Create a forced reference point: l enter the measured value with its sign as the source position value in the

Param field, l select the Forced reference point command.

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203

Adjustment

Adjusting High-

Speed Gain

To determine the value of the Gain 2 parameter, carry out the following operations:

It is assumed that the moving part has an inertia equal to the maximum value encountered in the application.

Step

1

2

3

Action

Make movements from position 1 to position 2 and vice versa. To do this: l l l select an average speed, using the speed parameter in manual mode, enter the movement value in the Param field, activate the Inc+ (position 1), then Inc- (position 2) commands in succession,

Check following error when the moving part is at constant speed.

Adjust Gain 2 for an acceptable deviation, while maintaining an appropriate stability (otherwise, check the machine definition). For each new Gain 2 value entered, use the same value for Gain 1 and transfer by confirming at the adjustment screen

Adjusting Low-

Speed Gain

Execute the following operations to determine the Gain 1 parameter value. This adjustment must be carried out for frictional machines, otherwise retain the value of

Gain 2 for the Gain 1 parameter. To obtain a larger gain at low speed, set Gain 1 higher than Gain 2 then transfer the values by confirming at the adjustment screen:

Step

1

2

3

Action l l

Make movements from position 1 to position 2 and vice versa. To do this: l select a very low movement speed: by choosing a low CMV coefficient value, enter a low movement value in the Param field, activate the Inc+ (position 1), then Inc- (position 2) commands in succession,

Check following error when the moving part is stationary

Adjust Gain 1 for an acceptable deviation, while maintaining an appropriate stability. For each new Gain 1 value entered, transfer by confirming at the adjustment screen

Adjusting the

Gain Threshold

The gain threshold must be set at a speed which overcomes friction.

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TLX DS 57 PL7xx

Adjusting Feed

Forward Gain

Adjustment

Perform the following to determine speed feed forward gain:

Step

1

2

Action

Make movements at speed VMAX from position 1 to position 2 and vice versa.

To do this: l l l select a high movement speed: while choosing a high CMV coefficient value, enter a movement value in the Param field, activate the Inc+ (position 1), then Inc- (position 2) commands in succession,

Adjust the feed forward for the value and sign of the error required

Note: If the overshoot is too large, you may wish to reduce feed forwardslightly.

Offset

Adjustment

Adjusting

Integral Action

When the moving part is stationary, select loop control disabled mode DIRDRIVE.

Adjust the offset in the window from –250 mV to +250 mV to cancel out any slipping of the moving part.

For a TSX CAY 22/42 or TSX CAY 33 module, integral action is used to compensate for the different offsets in the string (e.g. module, drive, motor, mechanical equipment) as well as drift. The Ti position loop parameter is used to achieve this compensation.

The gain is only active when the axis is theoretically stationary (theoretical speed is zero, following error absorption phase). Is it active in automatic and manual modes in the absence of a blocking fault on the axis (AX_OK=1 ). It is inactive in the automatic modes EXT_CMD and SLAVE.

The principle is to add an additional continuous action, which is updated during stop phases.

The integral action is expressed in ms, in the interval [100, 5000] ms. By default the value 0 indicates that there is no integral action.

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205

Adjustment

Description of movement control parameters

Description of following error parameters

This table describes the following error parameters:

Parameter

Following error 1

Following error 2

Indication

Moving part stopped by critical deviation between calculated position (setpoint) and measured position of moving part.

By default Following error 1 = (LMAX – LMIN)/100

Critical error: 0 to (SL_MAX - SL_MIN)/4

Following error 1 = 0: no control

Deviation between calculated position (setpoint) and measured position of moving part, which only causes a fault to be signalled.

By default Following error 2 = (LMAX – LMIN)/100

Preventive error: 0 to (SL_MAX - SL_MIN)/4

Following error 2 = 0: no control

Description of recalibration parameters

This table describes recalibration parameters:

Parameter Indication

Recalibration position Value that measured position must have during a recalibration event.

By default Recalibration position = (LMAX - LMIN)/4 + LMIN (if it is a configured recalibration function)

Limits: SL_MIN + TW to SL_MAX - TW, where TW = tolerance for target window control

Recalibration position = 0 : no control

Recalibration deviation Maximum gap between recalibration position and measured position of moving part during a recalibration event. A larger deviation will trigger a recalibration.

By default Recalibration deviation = (LMAX - LMIN)/100 + LMIN (if it is a configured recalibration function)

Static error: 0 to DMAX1/2

Recalibration deviation = 0: no control

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TLX DS 57 PL7xx

Description of overspeed parameter

Adjustment

This table describes the overspeed parameter:

Parameter

Overspeed

Indication

Fault threshold for measured overspeed, expressed as a % of

VMAX.

By default Overspeed = 10%

Overspeed: 0 to 20%

Overspeed = 0: no control

Description of

VLIM parameter

This table describes the VLIM parameter:

Parameter

VLIM

Indication

Detection threshold for movement control.

Unit: mV

Limits: 0 to 9000

VLIM = 0: no control

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Adjustment

Description of Command Parameters

Description of soft stop parameters

This table describes soft stop parameters. These parameters can only be accessed if the axis is limited.

Parameter

Software hi limit

Software lo limit

Significance

Hi and lo limits of the position measurement that the moving part must not exceed. In the case of overflows, the moving part stops and signals a soft stop fault.

By default for the TSX CAY *2 and 33:

- SL_MIN = LMIN and SL_MAX = LMAX

- LMIN <= SL_MIN < SL_MAX <= LMAX and

- SL_MAX - SL_MIN > RESOL x 256

By default for TSX CAY *1:

- SL_MAX - SL_MIN > RESOL x 2

15

Description of modulo parameter

This table describes the modulo parameter. In the case of an infinite axis, this parameter can be accessed with a TSX CAY 22/42 or TSX CAY 33 module.

Parameter

Modulo

Significance

Measurement area, in the case of an infinite run-time machine.

For infinite axes, adjustment must be less than or equal to the modulo defined in the Max modulo field during configuration.

By default Modulo = Max modulo

Limits: Modulo <= Max modulo

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TLX DS 57 PL7xx

Adjustment

Description of the Acceleration

Parameter

This table describes the acceleration parameter:

Parameter

Acceleration

Significance

Value of acceleration and deceleration. This is defined by the

Taccrec time (in ms) which is used to change from zero speed to VMAX speed, in the case of a Rectangle profile.

In the case of a different profile, it is defined by:

Tacc = Taccrec x (2t1 + t2) / (t1 + t2) where,

Taccrec: acceleration for a rectangle profile (this value must be entered), t1 and t2 are defined by the acceleration profile (see below).

By default Taccrec = TACCMIN

Limits: TACCMIN <= Tacc < 10000 ms (where TACCMIN = maximum acceleration)

Description of the acceleration profile parameter

This table describes the acceleration profile parameter:

Parameter

Acceleration profile

Significance

Acceleration law applied to moving part.

By default: Rectangle

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209

Adjustment

Acceleration profiles

The following acceleration profiles may be used:

Acceleration profile Icon

Rectangle

Description t1 = 0

Tacc = Taccrec

Trapezoid 1

Trapezoid 2

Trapezoid 3

Triangle t2 = 3 t1

Tacc = 1,25 Taccrec t1 = t2

Tacc = 1.5 Taccrec t1 = 3 t2

Tacc = 1.75 Taccrec

Tacc = 2 Taccrec

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TLX DS 57 PL7xx

Adjustment

Description of stop control parameters

Description of

Delay parameter

This parameter describes the Delay parameter:

Parameter

Delay

Indication

As soon as the speed setpoint value calculated by the module is equal to 0, the module activates a time-out (equal to the Delay parameter).

When this time-out has elapsed, the axis control module compares the moving part’s measured speed with the stop speed.

By default Delay = 500 ms

Stop delay: 0 to 10000 ms

Delay = 0 no control of stop fault

Description of

Stop speed parameter

This parameter describes the stop speed parameter:

Parameter

Stop speed

Indication

Speed at which moving part is considered to be at a stop.

Stop speed: 0 to VMAX/10, limited to 30000

Description of

Target window parameter

This parameter describes the Target window parameter

Parameter

Target window

Indication

Tolerance for position reached by module, after time-out defined by the

Delay parameter.

l For a limited axis: l l

By default Target window = (LMAX – LMIN)/100

Limits: 0 to (SL_MAX - SL_MIN)/20 l l Target window = 0: no control

For an unlimited axis: l By default Target window = Max modulo/100

Limits: 0 to Modulo /20

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211

Adjustment

Adjustment of monitoring parameters

Parameter adjustment procedure

To adjust monitoring parameters, the following procedure must be followed :

Step

1

2

3

4

5

6

7

Action

Enter the monitoring parameter values required, then confirm.

From the Debug screen: l l l

Select Manual mode, select a high movement speed:

Move from position 1 to position 2 and vice versa. To do this : l enter a movement value in the Param field, l select Inc+ (position 1), then Inc- (position 2) commands in succession.

The module must not become faulty. Check that there are no Axis faults ( the

DIAG button shows more detail).

If a fault is detected: l l increase the parameter values (i.e. greater tolerances) or re-adjust then adapt the loop control parameters.

Return to the adjustment screen and adjust the following parameters:

Following error 1 and Following error 2.

Adjust the Stop speed and Stop delay parameters.

The speed must be less than Stop speed at the end of the Stop delay .

The Stop delay is counted in relation to the moment where position reference reaches the value of the requested position.

Adjust the Target window parameter.

Adjust the Overspeed parameter. For this adjustment, select a movement speed equal to VMAX.

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TLX DS 57 PL7xx

Adjustment

Description of manual mode parameters

Description of

Speed parameter

This table describes the speed parameter:

Parameter

Speed

Indication

Speed of moving part in manual mode.

Just as in automatic mode, the real movement speed is modulated by the SMC modulation coefficient. Actual speed setpoint = Speed x SMC/

100

By default Speed = VMAX/2

Limits: 10 to VMAX

Description of

RP Value parameter

This table describes the Reference point value parameter:

Parameter

RP Value

Indication

Value set in current position during manual reference point setting.

l For a limited axis: l By default RP Value = (SL_MAX - SL_MIN)/4 + SLMIN l l Limits: SL_MIN + 1 to SL_MAX - 1

For an unlimited axis: l l

By default RP Value = Modulo / 4

Limits: 1 to Modulo - 1

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213

Adjustment

Parameters Associated with Master / Slave Axes

TSX CAY •2: Link between Master and Slave Axes

A ratio and an offset define the link between the master axis and the slave axis.

ConsignePositionEsclave = PositionMaître x (Ratio1 / Ratio2)

+ SlaveOffset

If the slave is an infinite type machine, the Modulo operator is applied in the calculations of the slave position setpoint. Modulo value: ModuloValue is defined by

%Mdxy.i.33.

TSX CAY •2:

Ratio

TSX CAY •2:

Offset

TSX CAY •1

The ratio defined by: Ratio = Ratio1 / Ratio2 is adjustable.

Dynamic ratio values are set between 0.01 and 100. The ratio can be negative.

The SlaveOffset parameter corresponds to the position offset value between master and slave.

If the SlaveOffset parameter is zero, the slave axis setpoint = Ratio x master axis

Setpoint or Measurement.

The offset value must be between -2

30-1

and 2

30-1

and the resulting ConsignePositionEsclave parameter must stay within the software limits of the slave.

TSX CAY •1 modules are used to carry out master / slave applications, with nonmodifiable ratio, and without offset shift.

Note: In the case of 2 infinite axes (master and slave):

Modulo

Master x Ratio = Modulo

Slave

x k where k = whole number k represents the number of revolutions made by the slave in the time taken for the master to make one revolution.

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TLX DS 57 PL7xx

Adjustment

Examples Examples

Ratio=1.25

k=1 (for 1 master revolution, the slave makes 1 revolution)

Master

0 100

Slave

0 125

Ratio=1.25

k=3 (for 1 master revolution, the slave makes 3 revolutions)

Master

0

Slave

0 125

300

TLX DS 57 PL7xx

215

Adjustment

Confirming adjustment parameters

Introduction When the adjustment parameters have been entered, they must be confirmed by using the Edit

→

Confirm command, or by activating the icon

Parameters outside limits

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

The faulty parameter(s) must be corrected and then confirmed.

No modification of configuration parameters

If configuration parameters have not been changed, modifying the adjustment parameters will not affect axis operation, but will modify its behaviour.

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

PLC processor Axis control channel

Adjustment screen

Current adjustment parameters

Cold restart

Initial adjustment parameters

Current adjustment parameters

Note: On cold restart, the current parameters are replaced by the initial parameters.

The initial parameters can be updated by using the save command, or by reconfiguration.

216

TLX DS 57 PL7xx

Adjustment

Saving / Restoring adjustment parameters

Saving parameters

To save the current parameters (update initial parameters), activate the Utilities

→

Save parameters command.

PLC processor Axis control channel

Current adjustment parameters

Save

parameters

Current adjustment parameters

Restoring parameters

Initial adjustment parameters

To replace current parameters with the initial values, activate the Utilities

→

Restore parameters command.

PLC processor Axis control channel

Current adjustment parameters

Restore

parameters

Current adjustment parameters

Initial adjustment parameters

TLX DS 57 PL7xx

Note: The RESTORE_PARAM instruction enables the application program to perform this restore operation. The restore function can also be performed automatically on a cold restart.

217

Adjustment

Reconfiguring in online mode

Introduction When the configuration parameters have been modified, they must be confirmed with the Edit

→

Confirm command, or by activating the icon

Parameters which can be modified in online mode

Stopping a movement in progress

Only those parameters which are not grayed-out can be modified in online mode.

Other parameters (e.g. resolution, encoder type, activation of event-triggered task) must be modified in offline mode. However upon reconfiguration, the corrected resolution becomes the initial resolution.

Any reconfiguration in online mode stops the operation of the channel

concerned. and therefore also stops the movement in progress. This is indicated by a dialog box:

Confirm

?

Reconfiguration will STOP channel.

Are you sure you want to reconfigure channel 0?

Cancel Ok

218

TLX DS 57 PL7xx

Adjustment

Exchanging parameters upon reconfiguration

The following diagram shows how to exchange parameters during reconfiguration in online mode:

Configuring screen (1) PLC processor Axis control channel

Parameters Parameters

Reconfiguration

Parameters

Current adjustment parameters

Current adjustment parameters

Current adjustment parameters

Initial adjustment

Parameters

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

TLX DS 57 PL7xx

219

Adjustment

220

TLX DS 57 PL7xx

Debugging an independent axis control program

7

Introduction

Subject of this section

What’s in this

Chapter?

This section describes the axis control channel debugging functions, in the different modes: Measurement, Manual, Loop control disabled, Automatic. It also describes the diagnostics screen which gives access to possible faults.

This Chapter contains the following Maps:

Topic

Debugging principles

The debug screen user interface

Description of debug screens

Measurement Mode (Off)

Loop control disabled mode (Dir Drive)

Manual mode (Manu)

Automatic mode (Auto)

Channel diagnostics

Archiving and documentation

Page

222

223

225

227

229

232

236

240

241

221

TLX DS 57 PL7xx

Debugging

Debugging principles

Introduction

Reminder of options offered by PL7 l l l

Program viewing and animation in real time.

For example, if each movement is programmed in one step in Grafcet, it is simple to know about the movement in progress.

Setting of breakpoints and program execution: cycle by cycle, network by network, or sequence by sequence.

Accessing animation tables. This enables you to view status words and bits and to control SMOVE function command bits. Is it also possible to force bit objects and block Grafcet changes.

Debug screen

The axis control capabilities, integrated into PL7 programming, use PL7 debugging functions.

PL7 software also offers a debug screen especially for TSX CAY modules, which give access to all essential information and commands:

Module zone

TSX CAY 21 [RACK 0 POSITION 6]

Symbol :

Choose

Channel

Function :

Position control

Auto

Manual

Dir

Drive

Off

Global unforcing pls/

Channel field

Mouvement Speed:

X

Actual

0

Target

F 0

Setpointd 0 mV

0

Following error

0

0

DONE

-Direction

AT Point

TH Point

Axis

OK

Reference

Stopped

I/O

Cam

Reca

Even

Aux

Position

Speed 0% Enable

SMC

Param

1 000

0

/1000

Commands

JOG JOG +

Faults

Com

Har

INC INC +

Manual reference point

Axis

Forced reference point l l l

The screen is composed of 3 zones:

Module zone.

Channel field.

A moving part and program monitoring zone. This zone depends on the operating mode that has been selected with the mode switch for: Automatic (Auto), Manual

(Manu) Loop control disabled (Dir Drive) or Measurement (Off) modes.

222

TLX DS 57 PL7xx

Debugging

The debug screen user interface

Accessing the debug screen

Command buttons

It is not possible to access the debug screen if the terminal is in online mode.

l l

If this is the case, access the debug screen as follows:

Select the Configuration Editor.

Select and confirm (or double-click on) the rack position which contains the axis control module.

l In online mode, the debug screen is viewed by default.

The command buttons work in the following way:

Entry field l For status commands (except JOG commands): pressing then releasing a button activates the associated command. The button’s internal LED is lit when this command is taken into account (the corresponding

%Q command bit is set to 1).

pressing then releasing the button a second time deactivates the command. The button’s internal LED is off when this command is taken into account (the corresponding %Q command bit is set to 0).

l For commands on edge: the command is activated as soon as the button is pressed and released. The button’s internal LED lights up then goes out automatically.

The LED next to a button indicates when the module has taken the command into account.

Any value entered into an entry field must be confirmed by the key

TLX DS 57 PL7xx

223

Debugging

Using the keyboard

Program conflicts

Animation

The keyboard can be used to browse through the screens or to activate a command:

Keys

Shift F2

Tab

Arrow keys

Space bar

Action

Used to pass from one zone to another

Used to pass from one set of commands to another within the same zone

Used to pass from one command to another within a set of commands

Used to activate or deactivate a command

Conflicts may occur between the PL7 program which carries out commands or writes variables, and the commands executed from the debug screen. In any case, the active command will be the one most recently taken into account.

It is possible to stop animation in the display zones: l TheUtilities

→

Stop Animationcommand stops animation in the display zones, and inhibits the command buttons. This function can also be carried out by using the icon l The Utilities

→

Animate command reactivates animation. The icon can also be used.

224

TLX DS 57 PL7xx

Debugging

Description of debug screens

Introduction The debug screens have a common header composed of module and channel zones.

TSX CAY 22 [RACK 0 POSITION 3]

Debug

Désignation :2 CH AXIS MOD. Version : 1.0

RUN ERR IO DIAG ...

Symbole :

Choose Axis: Fonction :

Channel Position control

Auto

Manu

Off

Dir

Driv

Global Unforcing

CH0 DIAG ...

Module zone This table describes the module zone:

LED

RUN

ERR

I/O

DIAG

State

Lit

Lit

Blinking

Lit

Lit

Indication

Module in operation

Module inoperative

Communication fault

External hardware fault (e.g. encoder, variable speed controller, outputs)

Faulty module. On pressing the button associated with this LED, a diagnostics dialog box used to locate the source of the fault appears.

TLX DS 57 PL7xx

225

Debugging

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

Command

(1)

Auf 0 forcieren F4

Auf 1 forcieren F5

Forcierung aufheben F6

(2)

Function

Operating mode selector button.

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

Using the keyboard, select the button with the Tab key, then press as many times as is necessary on the Space Bar.

It is also possible to access operating modes using the View menu.

When the selected mode has actually been taken into account by the module, the movement monitoring zone for that mode is displayed.

Caution: Although it may have been selected, that chosen mode cannot be taken into account by the module channel (e.g. if the

PLC is in STOP mode).

Forcing command menu.

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

After right-clicking on a command to select it, forcing is applied and the forcing status is indicated by the button (3): l l

F for forcing to 0

F in inverse video for forcing to 1.

The Global unforcing button in the module zone is used to unforce a set of forced objects.

(3)

This zone displays a summary (with background on certain points like an oscilloscope) of the value of the analog output.

This value is between +10 V and –10 V.

226

CHi

DIAG

Lit: Configured non-faulty axis (channel).

Blinking: Faulty axis.

Off: Non-configured axis.

Lit: Channel fault.

By pressing on the button associated with this LED, a dialog box appears, specifying the source of the fault (See Channel

diagnostics, p. 240 ).

TLX DS 57 PL7xx

Debugging

Measurement Mode (Off)

Introduction In this mode, the axis control channel only reports back information on position and current speeds. Movement of the moving part is not monitored.

The position loop is inoperative and the variable speed controller enable relay is unlocked, whatever the state of the variable speed controller enable bit ENABLE

(%Qxy.i.9).

Symbol:

Choose Axis: Function:

Channel 0 Position control

Movement in.e-5 Speed: in, e-2/min

Speed:

Current

X

F

0

0

Auto

Man.

Dir Drive

Drive

Off

Axis

OK

Referenced

Stopped

CH0 DIAG ...

Faults

Hardware

Axis

Ack.

Description of

Movement /

Speed Field

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

Display zone

X

F

Description

Displays the moving part position using the measurement unit defined in the configuration.

Displays the moving part speed using the measurement unit defined in the configuration.

Description of

Axis Field

This table shows the display zones for the Axis field:

LED

OK

Referenced

Stopped

State

On

On

On

Meaning

Axis in operational state (no blocking fault)

Referenced axis

Moving part stationary

TLX DS 57 PL7xx

227

Debugging

Description of

Faults Field

This table shows the display and command zones for the Faults field:

LED / Button

Hardware

Axis

Ack.

State

On

On

/

Meaning

External hardware fault (e.g. encoder, variable speed controller, outputs, etc.)

Application fault (e.g. following error, software limits, etc.)

Fault acknowledgement button. Activating this button acknowledges all faults that have disappeared

228

TLX DS 57 PL7xx

Debugging

Loop control disabled mode (Dir Drive)

Introduction The loop control disabled mode is used to directly control the movement of the moving part, with the control loop inoperative.

TSX CAY 22 [RACK 0 POSITION 3]

Symbole :

Choose Axis: Fonction :

Channel Position control

Auto

Manu

Dir

Drive

Off

Global Unforcing

Movement in.e-5 Speed : in,e-2/min

Current

X

F

Position

Speed

0

Setpoint

0%

0 mV

Axis

OK

Referenced

Stopped

Validation

CH0 DIAG ...

I/O

RP cam

Recalibration

Event cam

Aux

FS

STOP

Param 0 mV

Command

Auxiliary output

Defaults

Command refused

Hardware

Axe

Acq.

TLX DS 57 PL7xx

229

Debugging

Description of

Movement /

Speed field

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

Display zone

X

F

Setpoint

Position

Speed

Description

Displays the moving part position using the measurement unit defined in the configuration.

Displays the moving part speed using the measurement unit defined in the configuration.

Displays (in mV) the setpoint value applied to the analog output

This bar chart shows the progress of the moving part between the soft stops. The bar chart is colored green, and becomes red if there is a soft stop overshoot

The bar chart expresses the speed of the moving part in relation to maximum speed as a percentage. The bar chart is colored green, and becomes red if the maximum speed is exceeded

Description of

Axis field

This table shows the display and command zones for the Axis field:

LED / Button

OK

Referenced

Stopped

Enable /

State

Lit

Lit

Lit

Indication

Axis in operational state (no blocking fault)

Referenced axis

Moving part stationary

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

Description of I/O field

This table shows the display zones for the I/O field:

LED

PO Cam

Recalibration

Event Cam

Aux

Indication

Signal state (0 or 1) on Reference point input

Signal state (0 or 1) on Recalibration input

Signal state (0 or 1) on Event input

Signal state (0 or 1) on auxiliary output

1 = LED lit, 0 = LED off

230

TLX DS 57 PL7xx

Description of commands

Debugging

This table describes command buttons:

Command

STOP

Param

Command

Auxiliary output

Description

Set analog output to 0 while taking deceleration into account

Used to enter setpoint value from –9000 mV to +9000 mV

Applies the value entered into the Param field to the analog output

Sets auxiliary output to 1 or 0

Description of

Faults field

This table shows the display and command zones for the Faults field:

LED / Button

Refus Cde

Hardware

Axis

Acq.

State

Lit

Lit

/

Lit

Indication

Last command refused

External hardware fault (e.g. encoder, variable speed controller, outputs, etc.)

Application fault (e.g. following error, soft stops etc.)

Fault acknowledgment button. Activating this button acknowledges all faults which have disappeared

TLX DS 57 PL7xx

231

Debugging

Manual mode (Manu)

Introduction Manual mode is used to directly control the movement of a moving part from the debug screen. To do this, the JOG+, JOG-, INC+ commands must be used.

TSX CAY 21 [RACK 0 POSITION 6]

Symbol :

Choose

Voie 0

Function :

Position control

Auto

Manual

Dir

Drive

Off

Global unforcing pls/ DIAG...

Mouvement Speed:

X

Actual

0

Target

F

0

Setpointd 0 mV

0

Following error

0

0

-Direction

AT Point

Axis

OK

Reference

DONE TH Point Stopped

Position

Speed 0% Enable

SMC

Param

1 000

0

/1000

Commands

JOG JOG +

STOP

F8

INC INC +

Manual reference point

Forced reference point

Auxiliary output

I/O

Came P0

Recalibratio

Event cam

Aux

Faults

Command

Hardware

Axis

Ack.

232

TLX DS 57 PL7xx

Description of

Movement /

Speed field

Debugging

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

Display zone

X Current

Description

Displays the moving part position using the measurement unit defined in the configuration.

X Target

F Current

Displays the moving part position setpoint (target position)

X Following error Displays the deviation between the setpoint position calculated and the actual position of the moving part (following error).

Displays the moving part speed using the measurement unit defined in the configuration.

F Target

Setpoint

Position

Displays the setpoint speed of the moving part: target speed (manual speed modified by CMV coefficient)

Displays (in mV) the setpoint value applied to the analog output

Speed

The bar chart shows the progress of the moving part within the limits defined in the configuration screen. The bar chart is colored green, and becomes red if the limits are exceeded

The bar chart expresses the speed of the moving part in relation to maximum speed as a percentage. The bar chart is colored green, and becomes red if the maximum speed is exceeded

This table shows indicators for the Movement/ Speed field:

Indicator

+ Direction

- Direction

AT Point

DONE

TH Point

/

State

Lit

Lit

Lit

Indication

Indicates that the part is moving in a positive direction

Indicates that the part is moving in a negative direction

Indicates that the movement in progress has finished, and that the moving part is in the target window (with INC+ or

INC- commands)

Indicates that the movement in progress has finished

Indicates that the theoretical setpoint has been reached

Description of

Axis field

This table shows the display and command zones for the Axis field:

LED / Button

OK

Referenced

Stopped

Enable /

State

Lit

Lit

Lit

Indication

Axis in operational state (no blocking fault)

Referenced axis

Moving part stationary

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

TLX DS 57 PL7xx

233

Debugging

Description of I/O field

This table shows the display zones for the I/O field:

LED

PO Cam

Recalibration

Event Cam

Aux

Indication

Signal state (0 or 1) on Reference point input

Signal state (0 or 1) on Recalibration input

Signal state (0 or 1) on Event input

Signal state (0 or 1) on auxiliary output

1 = LED lit, 0 = LED off

Description of commands

This table describes the command zone:

Command

STOP

Param

CMV

Description

Stops the moving part according to deceleration defined in the configuration

Used to enter the value of either an incremental movement (INC+ or

INC- command) or a forced reference point

Used to enter a value from 0 to 2000 which determines the speed multiplier coefficient (0.000 to 2000 in intervals of 1/1000)

234

TLX DS 57 PL7xx

Debugging

Description of

Commands field

This table describes the buttons in the Commands field:

Command

JOG-

JOG+

INC-

INC+

Description

Command to move view in a negative direction (1)

Command to move view in a positive direction (1)

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

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

Manual reference point

Forced reference point

Reference cancellation

Referencing

With incremental encoder, manual reference point and search order.

The current position takes on the value of the PO Value defined in the adjustment screen, with the reference point found in accordance with the type defined in the configuration.

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

This type of reference point does not shift the moving part

In order to be able to shift the moving part without soft stop fault: nonreferenced axis crossing order with an absolute encoder

With an absolute encoder in direct offset, referenced axis crossing order

Calculation offset With an offset-assisted absolute encoder, trigger the encoder offset calculation to make the current position coincide with the value in length units entered in the Param field. The axis is referenced at the end of this calculation.

Auxiliary output Sets auxiliary output to 1 or 0

(1) These commands remain active for as long as the button is pressed. They are used to disengage the moving part outside of soft stops (after acknowledging a fault).

Description of

Faults field

This table shows the display and command zones for the Faults field:

LED / Button

Refus Cde

Hardware

Axis

Acq.

State

Lit

Lit

/

Lit

Indication

Last command refused

External hardware fault (e.g. encoder, variable speed controller, outputs, etc.)

Application fault (e.g. following error, soft stops etc.)

Fault acknowledgment button. Activating this button acknowledges all faults which have disappeared

TLX DS 57 PL7xx

235

Debugging

Automatic mode (Auto)

Introduction Automatic mode is used for executing SMOVE functions.

TSX CAY 21 [RACK 0 POSITION 6]

Symbol :

Choose axis: Function:

Voie 0 Position control

Auto

Manual

Dir

Drive

Off

Global unforcing pls/ DIAG...

Movement:mm Speed:m/mh

X

Actual

0

Target

F 0

N 0 G9_ 0 G 0

Position

Speed 0%

0

Following error

0

-Direction

0

DONE

AT Point

TH Point

NEXT Feed hold

Axe

OK

Referenced

Stopped

I/O

Came P0

Recalibration

Event cam

Aux

SMC

Param

STOP

F8

1 000

0

PRef 1

PRef 2

/1000

Event sources

End G10/G11

RefP

0

0

End G05

TO G05

Enable

Commands

Slave

External

Pause

Step by step

Next step

PLC Sync.

Faults

Command refused

Hardware

Axis

Ack.

236

TLX DS 57 PL7xx

Description of

Movement /

Speed field

Debugging

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

Display zone

X Current

X Target

X Following error Displays the deviation between the setpoint position calculated and the current position of the moving part (following error).

F Current Displays the moving part speed using the measurement unit defined in the configuration.

F Target

Description

Displays the moving part position using the measurement unit defined in the configuration.

Displays the moving part setpoint position: target position (defined in instruction) (1)

N / G9_ / G

Displays the setpoint speed of the moving part: target speed (speed defined by CMV coefficient in modulated instruction) (2)

These fields display the instruction which is being executed.

N = step number, G9_ = movement type, G = instruction code

Position

Speed

The bar chart shows the progress of the moving part within the limits defined in the configuration. The bar chart is colored green, and becomes red if the limits are exceeded

The bar chart expresses the speed of the moving part in relation to maximum speed as a percentage. The bar chart is colored green, and becomes red if the maximum speed is exceeded

Note: The number of display digits is limited to 10. A line of dots (…) is displayed for any higher value.

(1) Displays the number of latches (1 or 2) for instruction G07.

(2) Displays the Time Out for instruction G05.

This table shows indicators for the Movement/ Speed field:

Indicator

+ Direction

- Direction

DONE

NEXT

AT Point

TH Point

Feed hold

/

State Indication

Indicates that the part is moving in a positive direction

Indicates that the part is moving in a negative direction

Lit

Lit

Lit

Indicates that the movement(s) in progress are now finished

Indicates that the module is ready to receive a movement command

Lit

Lit

Indicates that the movement in progress has finished, and that the moving part is in the target window (for instructions with stop)

Indicates that the theoretical setpoint has been reached

Indicates that the Feed Hold function has been activated (the CMV coefficient is set at 0)

TLX DS 57 PL7xx

237

Debugging

Description of

Axis field

This table shows the display and command zones for the Axis field:

LED / Button

OK

Referenced

Stopped

Enable /

State

Lit

Lit

Lit

Indication

Axis in operational state (no blocking fault)

Referenced axis

Moving part stationary

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

Description of I/O field

This table shows the display zones for the I/O field:

LED

PO Cam

Recalibration

Event Cam

Aux

Indication

Signal state (0 or 1) on Reference point input

Signal state (0 or 1) on Recalibration input

Signal state (0 or 1) on Event input

Signal state (0 or 1) on auxiliary output

1 = LED lit, 0 = LED off

Description of commands

This table describes the command zone:

Command

STOP

Param

CMV

Description

Stops the moving part according to deceleration defined in the configuration

Used to enter external values (position tracking function)

Used to enter a value from 0 to 2000 which determines the speed multiplier coefficient (0.000 to 2000 in intervals of 1/1000)

238

TLX DS 57 PL7xx

Debugging

Description of

EVT Source field

This table shows the display zones for the EVT Source field:

Indicator

PRef

PRef1

PRef2

End G10/G11

End G05

TO G05

/

/

State

Lit

Lit

Lit

Lit

Indication

Indicates PREF position latching (1)

This field displays the memorized PREF1 position (1)

This field displays the memorized PREF2 position (1)

Indicates event arrival while G10 or G11 instruction is being executed

Indicates that execution of instruction G05 is complete

Indicates that the Time Out, defined in instruction G05, has elapsed

(1) Providing that an event processing task has been associated with command

G07.

There is no indicator associated with the Modulo crossing event.

Description of

Commands field

This table describes the buttons in the Commands field:

Command

Slave

Cde Externe

Pause

Step by step

Next step

PLC Sync

Description

Changes the axis to Slave mode (i.e. tracking another axis) 0 axis cannot be set to slave axis mode

Changes the axis to a periodical setpoint tracking mode

Commands the moving part to stop at the end of a movement with a stop in progress

Changes the axis to Step by step mode

In Step by step mode, activate the waiting movement

Triggers a PLC event

Description of

Faults field

This table shows the display and command zones for the Faults field:

LED / Button

Refus Cde

Hardware

Axis

Acq.

State

Lit

Lit

/

Lit

Indication

Last command refused

External hardware fault (e.g. encoder, variable speed controller, outputs, etc.)

Application fault (e.g. following error, soft stops etc.)

Fault acknowledgment button. Activating this button acknowledges all faults which have disappeared

TLX DS 57 PL7xx

239

Debugging

Channel diagnostics

Introduction The various debugging, adjustment and configuring screens offer a DIAG button in online mode, which gives access to details of faults detected by the module.

Internal faults

Channel diagnostics

External faults Other fault

Translator fault

Absolute encoder frame fault

Emergency stop fault

24V power supply fault

Overspeed fault

Commands refused

Configuration

Adjustment:

Command: 0x1 AUTO command error (parameters)

OK

Description of the different fields

The Channel diagnostics screen offers the following fields:

Field

Internal faults

External faults

Other faults

Command refused

Description

Internal faults within the module which generally require it to be replaced

Faults originating from the operating part

Application faults

Indicates the cause and the message number of command refused (See

CMD_FLT code error list, p. 266 )

240

TLX DS 57 PL7xx

Debugging

Archiving and documentation

Archiving

Documentation

When the program has been debugged in online mode, the following saves must be carried out: l l save adjustment parameters if they have been modified. To do this, select the adjustment screen and use the Utilities

→

Save parameters command, save application on disk using the File

→

Save command.

l l

Application documentation for axis control is included in the complete PL7 application documentation. The documentation contains the following in one file: the program, the Configuration parameters and saved Adjust parameters.

TLX DS 57 PL7xx

241

Debugging

242

TLX DS 57 PL7xx

Operation

8

Human-machine interface design

Button box

CCX 17 Humanmachine interface

To design a simple or complex button box, commands and elementary information are available in the form of bits, command and status words and bits.

The following example shows how to perform a movement in manual mode for movement view type JOG+, and to change the CMV coefficient for speed modulation, on a CCX 17 human-machine interface terminal.

Both the command and the coefficient for speed modification can be carried out from the application-specific debug screen, or from the CCX 17 terminal.

In the following contact network, %M200 corresponds to the state of the CCX17 terminal button which activates the JOG+ command.

%I7.0.22

%M200

P

%M200

N

%I7.0.22

%Q7.0.1

S

%Q7.0.1

R

The following contact network is used to refresh the %M200 bit on each cycle in order to detect edges.

%M200 %M200

In the following network, %M200 contains the CMV setpoint coefficient, which is defined on the CCX 17 terminal. %MW0 stores the last CMV setpoint entered on the terminal.

COMPARE

%MW0:=%MW200

OPERATE

%QW7.0.1:=%MW200

OPERATE

%MW0:=%MW200

TLX DS 57 PL7xx

243

Operation

244

TLX DS 57 PL7xx

Diagnostics and maintenance

9

Introduction

Subject of this section

What’s in this

Chapter?

This section describes the procedure to follow when encountering various possible situations, (symptoms, diagnostics and action to be taken)

This Chapter contains the following Maps:

Topic

Fault and command executability monitoring

Diagnostics help

Page

246

247

TLX DS 57 PL7xx

245

Diagnostics and maintenance

Fault and command executability monitoring

Fault monitoring There are several ways of detecting a possible fault: l l

LEDs on the module front panel.

Diagnostic screens which can be accessed by the DIAG key in online mode from all the application-specific axis control module screens.

l l

Debug screens.

Fault bits and status words

Movement commands l l l l l l

The following conditions must be fulfilled in order to execute movement commands

( in automatic or manual mode):

The axis is configured and is without a blocking fault.

The ENABLE variable speed controller enabling command is active (%Qxy.i.9 bit is in position 1) and the STOP command is inactive. l

Automatic or manual mode is selected.

For commands in absolute position, the position is: l l between SL_MIN and SL_MAX ranges for a limited axis, between values of 0 and modulo –1 for an unlimited axis.

For commands on a relative position, the target calculated from the current relative position is between the limits SL_MIN and SL_MAX.

The axes are referenced, except for the reference point commands.

The SMOVE function parameter F is equal to VMAX.

Modifying the

CMV parameter

If modifying a CMV speed modulation parameter implies a resulting speed greater than VMAX, this speed is limited to VMAX.

Sequence control

If the Sequence control option has not been selected in the configuration, a nonstop movement followed by no sequencing command will continue as far as a soft stop.

246

TLX DS 57 PL7xx

Diagnostics and maintenance

Diagnostics help

Introduction

What to do in situations

Situations may arise which you have to resolve. The following procedure is designed to help diagnose these situations, and indicates the path to follow.

New parameters not taken into account

Problem

Diagnostics

What to do

The TSX CAY module does not seem to have registered the new parameters written by WRITE_PARAM.

Program a READ_PARAM instruction into the application to find out the values actually being used by the module.

A WRITE_PARAM is triggered and ignored while exchanging other adjustment parameters

Test the %Mwxy.i.0.X2 bit before exchanging any adjustment parameters.

Event processing

Problem

Diagnostics

What to do

The event processing associated with the axis control channel has not been executed.

l l l

Check that the whole event feedback string has been confirmed: l Event number declared in the configuration is identical to the one in event processing.

Origin of event unmasked (M code from the SMOVE command).

Events authorized at system level (%S38 = 1.

Unmasked events at system level (UNMASKEVT()).

Refer to event usage.

Lost adjustments

Problem

Diagnostics

What to do

Adjustments have been lost.

A cold restart can cause current adjustments that have been carried out via a screen or by a WRITE_PARAM instruction to be lost.

Save current adjustments by using the Utilities

→

Save parameters command, or by using the SAVE_PARAM instruction.

Inconsistent status words

Problem

Diagnostics

What to do

%Mwxy.i.1 and %Mwxy.i.2 status words are inconsistent with the status of the axis control channel.

These words are only updated through an explicit READ_STS request.

Program a READ_STS instruction into the application.

TLX DS 57 PL7xx

247

Diagnostics and maintenance

Encoder supply fault

Problem

Diagnostics

What to do

The encoder supply fault persists while the encoder is properly supplied and the current value is changing.

The encoder supply return signal has not been wired correctly.

Check the encoder connections.

Ineffective commands

Problem

Diagnostics

What to do

The debugging screen commands are ineffective.

The application or the task is in STOP mode.

Change the application or the task to RUN mode.

Non-modifiable commands

Problem

Diagnostics

What to do

Certain debugging screen commands cannot be modified.

These bits are written by the application.

Use bit forcing (for %Qxy.i.r type objects) or re-do the application to avoid systematic writing of these bits (modification on transition and not on status).

Character entry not possible

Problem

Diagnostics

What to do

It is not possible to enter more than 3 characters into the digital fields in the adjustment and configuration screens.

The thousands separator has not been selected in the Windows configuration panel.

In the Windows configuration panel, select the International icon in the

Number format field.

Activate the Modify command and choose a thousands separator.

248

TLX DS 57 PL7xx

Additional Functions

10

Dimension learning

Introduction The example from the following PL7 program shows the learning and usage of 16 dimensions.

TLX DS 57 PL7xx

249

Additional Functions

Dimension learning

This graph is used to program learning for 16 dimensions.

50

51

52 53

STEP 50 ACTION ON ACTIVATION

<memorizes %MW99 with a view to using it as a limit

! %MW98 := %MW99;

< Initializes the index during the learning phase

! %MW99 := -1;

TRANSITION: X50 -> X51

! RE %I2.0

STEP 51 ACTION ON ACTIVATION

< brings the index up to date

! %MW99 := %MW99+1;

< positions learning

! %MD200[%MW99] := %ID7.0;

TRANSITION: X51 -> X52

! %MW99 <= 16

TRANSITION: X51 -> X53

! %MW99 > 16

TRANSITION: X53 -> X50

! RE %I2.1

TRANSITION: X52 -> X51

! RE %I2.0

TRANSITION: X52 -> X50

! RE %I2.1

250

TLX DS 57 PL7xx

Using dimensions

This graph is used to program the utilization of 16 dimensions.

Additional Functions

42

43

46

STEP 42 ACTION ON ACTIVATION

<initializes %MW97 as the execution index

! %MW97 := -1;

TRANSITION: X42 -> X43

! RE %I2.2

STEP 43 ACTION ON ACTIVATION

< increments the execution index

! %MW97 := %MW97+1;

< executes the following segement

! SMOVE %CH7.0 (%MW97,%KW8,%KW1,%MD200[%MW97],150000,0);

%KW8 : 90 movement in the absolute value

%KW1: 09 go to point with break

TRANSITION: X43 -> X46

! %I7.0.0 AND (%MW97 < %MW98) AND NOT %I7.0.2

TRANSITION: X43 -> X42

! (%I7.0.1 AND (%MW97 >= %MW98)) OR %I7.0.2

TRANSITION: X46 -> X43

! TRUE

TLX DS 57 PL7xx

251

Additional Functions

252

TLX DS 57 PL7xx

Memory aids

11

Introduction

Subject of this section

What’s in this

Chapter?

This section provides a description of the movement function parameters as well as the objects exchanged between the axis control module and the processor.

This Chapter contains the following Maps:

Topic

General module data

Internal command data (implicit exchanges)

Internal Status Data (Implicit Exchanges)

Internal status data (explicit exchanges)

Adjustment parameters (explicit exchanges)

Exchanges between Processor and Axis Control Module

TSX CAY Module Channel

CMD_FLT code error list

Page

254

255

257

259

261

263

265

266

253

TLX DS 57 PL7xx

Memory aids

General module data

Fault word

Status word

%Ixy.MOD.ERR

%MWxy.MOD.2:Xj = standard status word

5

6

1

3

Bit

0

Description

Internal error (module faulty)

Function fault

Module in self-test mode

Hardware or software configuration fault

Absent module

254

TLX DS 57 PL7xx

Memory aids

Internal command data (implicit exchanges)

Output bits %Qxy.i.j

= Processor -> TSX CAY

1

2

Bit

0

3

Symbol

DIRDRV

JOG_P

JOG_M

INC_P

Active on

State

State

State

Edge

4

5

6

8

9

10

11

15

16

17

18

19

22

INC_M

SET_RP

RP_HERE

ACK_DEF

ENABLE

EXT_EVT

AUX_OUT

STOP

PAUSE

SLAVE

EXT_CMD

MOD_STEP

NEXT_STEP

Edge

Edge

Edge

Edge

State

Edge

State

State

State

State

State

State

Edge

Description

Movement command in loop control disabled mode

Manual movement unlimited in + direction

Manual movement unlimited in - direction

Incremental movement order (PARAM) in + direction

Incremental movement order (PARAM) in - direction

Manual reference point (RP_POS = original value) or change to non-referenced state

Reference point forced to a value defined in PARAM or change to a referenced state / offset calculation

Fault acknowledgement

Enabling axis speed drive safety relay

Trigger event order from processor

Auxiliary output command

Immediate stop command (halting of moving part)

Suspend movements command at the end of a movement in progress

Setpoint in progress = 0 axis position

Setpoint in progress = processor setpoint

Change to step by step mode command

Start next step command

Mode selector %QWxy.i.0

= MOD_SEL : mode selector

1

2

Value

0

3

Mode

DRV_OFF

DIRDRIVE

MANU

AUTO

Description

Measurement mode: inhibition of CNA output

Loop control disabled mode: direct voltage command

Manual mode

Automatic mode

TLX DS 57 PL7xx

255

Memory aids

Speed modulation

Movement increment

%QWxy.i.1

= CMV : speed modulation

Value = speed modulation setpoint value This setpoint is in the range 0 to 2, in intervals of 1/1000.

%QDxy.i.2

= PARAM: value of movement increment

256

TLX DS 57 PL7xx

Memory aids

Internal Status Data (Implicit Exchanges)

Input Bits

TLX DS 57 PL7xx

27

28

29

30

21

22

23

26

31

32

33

34

36

16

17

18

20

10

12

14

15

TH_PNT

CONF_OK

REF_OK

AX_EVT

HOME

DIRECT

IN_REC

IN_DROFF

IN_DIRDR

IN_MANU

IN_AUTO

ST_JOG_P

ST_JOG_M

ST_INC_P

ST_INC_M

ST_SETRP

ST_DIRDR

IN_INTERPO

ON_PAUSE

IM_PAUSE

IN_SLAVE

%Ixy.i.j

= TSX CAY -> Processor

5

6

3

4

8

9

1

2

Bit

0

Symbol

NEXT

DONE

AX_FLT

AX_OK

HD_ERR

AX_ERR

CMD_NOK

NOMOTION

AT_PNT

Description

Ready to receive a new movement command (in AUTO)

All instructions are executed: no instructions in the stack

Fault present on axis

No fault causing moving part to stop

Hardware fault present

Application fault present

Command refused

Moving part stationary

Moving part position on target (in the point window, on instruction with stop)

Theoretical setpoint reached

Configured axis

Reference point taken (axis referenced)

Recopy physical event inputs

Recopy CAM physical input of module reference point

Indicates direction of movement

Recopies recalibration input on-the-fly

Measurement mode active

Loop control disabled mode active

Manual mode active

Automatic mode active

Unlimited movement in + direction in progress

Unlimited movement in - direction in progress

Incremental movement in + direction in progress

Incremental movement in - direction in progress

Manual reference point in progress

Loop control disabled movement in progress

Interpolated movement in progress

Movements sequence suspended

Movement suspended (immediate PAUSE)

Setpoint in progress = 0 axis position

257

Memory aids

40

41

46

47

Bit

37

39

Symbol

IN_EXT_CMD Setpoint in progress = processor setpoint

ST_IN_STEP

DRV_ENA

IN_AUX0

OVR_EVT

EVT_G07

48

49

50

51

EVT_G05

TO_G05

EVT_G1

EVT_MOD

ERR ERROR

Description

Step by step mode in progress

Speed drive enable output image

AUX0 output image

Event overrun

Event source: latch position

Event source: G05 end on event

Event source: G05 time delay expired

Event source: G10 or G11 end on event

Modulo crossing

Channel fault

Other Status

Data

Note: If 0, 1 and 2 channels are interpolated, IN_INTERPO bits are in position 1

(%Ixy.0.32, %Ixy.1.32 and %Ixy.2.32).

%IDxy.i.0

= X_POS: measured position

%IDxy.i.2

= SPEED: measured speed

%IDxy.i.4

= FOL_ERR : current position deviation

%IWxy.i.6

= ANA_OUT: current analog output

%IWxy.i.7

= SYNC_N_RUN: step number in progress

%IDxy.i.11

= PREF1: PREF1 register value

%IDxy.i.13

= PREF2: PREF2 register value

258

TLX DS 57 PL7xx

Memory aids

Internal status data (explicit exchanges)

Managing exchanges

%MWxy.i.0:Xj = Managing exchanges

Bit

X0

X1

X2

X15

Symbol

STATUS

COMMAND

ADJUST

CONF

Description

Status parameters (STATUS) exchange in progress

Command parameters exchange in progress

Exchanging adjustment parameters

Module reconfiguration in progress

Exchanges report

%MWxy.i.1:Xj = Exchanges report

Bit

X1

X2

X15

Symbol

CR_RPT

ADJ_RPT

CONF_FLT

Description

Command parameters exchange report

Adjustment parameters exchange report

Configuration fault

Channel operating status

%MWxy.i.2:Xj = Channel operating status

X6

X7

X8

X9

Bit

X0

X4

X5

Symbol

EXT_FLT

MOD_FLT

CONF_FLT

COM_FLT

APP_FLT

CH_LED_LOW

CH_LED_HIGH

Description

External fault (same as HD_ERR bit)

Internal error Module absent, inoperative, or in self-test mode

Hardware or software configuration fault

Communication fault with processor

Application fault (errored configuration) or command fault

Channel LED status

Channel LED status

TLX DS 57 PL7xx

259

Memory aids

Axis operating status

%MWxy.i.3:Xj = Axis operating status

X2

X3

X4

X5

Bit Symbol Description

Hardware faults : %Ixy.i.4 HD_ERR (groups the faults below)

X0

X1

ANA_FLT

AUX_FLT

Analog output short-circuit fault

Auxiliary output short-circuit fault

DRV_FLT

ENC_SUP

ENC_BRK

EMG_STP

Speed drive fault

Encoder supply fault

Encoder break fault

Emergency stop fault

X9

X10

X11

X12

X6

X7

AUX_SUP

ENC_FLT

24 V supply fault

Absolute encoder parity series or E bit fault

Application faults : %Ixy.i.5 AX_ERR (groups the faults below)

X8 SLMAX Maximum soft stop overshoot

SLMIN

SPD_FLT

FE1_FLT

REC_FLT

Minimum soft stop overshoot

Overspeed fault

MAX_F1 position deviation fault

Recalibration fault

X13

X14

X15

TW_FLT

STP_FLT

FE2_FLT

Debugging window fault

Stopping fault

MAX_F2 deviation fault

Other status data %MWxy.i.4

= N_RUN : step number in progress

%MWxy.i.5

= G9_COD : Movement type in progress

%MWxy.i.6

= G_COD : Instruction code in progress

%MWxy.i.7

= CMD_FLT : refusal report

%MDxy.i.9

= T_XPOS : reach position target

%MDxy.i.11

= MAX_FER : maximum following error

%MDxy.i.13

= T_SPEED : speed to be reached

260

TLX DS 57 PL7xx

Memory aids

Adjustment parameters (explicit exchanges)

Adjustment parameters

%MWxy.i.j

or %MDxy.i.j

Word

%MWxy.i.15

Symbol

SLOPE

%MWxy.i.16

%MWxy.i.17

%MWxy.i.18

%MWxy.i.19

KPOS1

KPOS2

SP_THR

IPOS

TLX DS 57 PL7xx

%MWxy.i.20

%MWxy.i.21

%MWxy.i.22

%MWxy.i.23

%MWxy.i.24

%MWxy.i.25

%MWxy.i.26

%MWxy.i.27

%MWxy.i.29

%MWxy.i.30

%MDxy.i.31

%MDxy.i.33

%MDxy.i.35

%MDxy.i.37

%MDxy.i.39

%MDxy.i.41

%MDxy.i.43

KV

OFFSET

OVR_SPD

S_STOP

T_STOP

TACC

VLIM

RATIO1

RATIO2

SL_MAX

SL_MIN

MAN_SPD

K_RES1

K_RES2

RP_POS

RE_POS

Description

Acceleration rule

0 = rectangle, 1 to 3 = trapezium, 4 = triangle

Position loop Gain 1 0 to 120.00 (in 1/s)

Position loop Gain 2 0 to 120.00 (in 1/s)

Switching threshold for gain : 20 to 500 VMAX/

1000

Ti integral action integral time = 0 to 5000 ms 0

= no integral action (TSX CAY 22/42 and TSX

CAY 33)

Reserved

Loop feedforward speed gain 0 to 100%

Loop CAN offset -250 to 250 mV

Overspeed threshold 0 to 20%

Stopping speed : 0 to VMAX/10 or 30000

Maximum delay for detecting a stop: 0 to 10000 ms

Acceleration / deceleration time: TACCMIN to

10000 ms

Movement control activation threshold

Slave axis ratio (TSX CAY 22/42)

Slave axis ratio (TSX CAY 22/42)

High soft stop : SLMIN to LMAX for limited axis

Modulo in points for an infinite axis

Lower soft stop : LMIN to SLMAX for a limited axis

Modulo value in user units for an infinite axis

Speed in manual mode : 10 to VMAX

Resolution multiplier : 1 to 1000000

Resolution divisor : 1 to 1000000

Reference point value in manual mode: SLMIN to SLMAX

Recalibration reference value SLMIN to

SLMAX

261

Memory aids

Word

%MDxy.i.45

%MDxy.i.47

%MDxy.i.49

%MDxy.i.51

%MDxy.i.53

%MDxy.i.55

%MDxy.i.62:X0

Symbol

MAX_F1

MAX_F2

TW

RE_WDW

ABS_OFF

SLAVE_OFF

ValidEvtMod

Description

Position 1 deviation threshold :

0 to (SLMIN - SLMAX)/4

Position 2 deviation threshold:

0 to (SLMIN - SLMAX)/4

Debugging window :

0 to (SLMIN - SLMAX)/20

Recalibration deviation threshold :

0 to (SLMIN - SLMAX)/20

Absolute encoder offset

Axis follower offset (TSX CAY 22/42)

Event confirmation on modulo crossing (TSX

CAY 22/42 and TSX CAY 33)

262

TLX DS 57 PL7xx

Memory aids

Exchanges between Processor and Axis Control Module

Diagram of

Exchanges

The different exchanges between the processor and the axis control module are as follows:

Processor TSX CAY module

Configuration

Adjustment parameters

Saving

WRITE_PARAM (1)

READ_PARAM (1)

SAVE_PARAM (2)

RESTORE_PARAM

(2)

Configuration

Adjustment parameters

Program

PL7

%I %IW

%Q %QW

Status word

%MW

Task

Event

SMOVE

Implicit exchange

READ_STS (1)

EVT

TLX DS 57 PL7xx

263

Memory aids

(1) Read or write from the adjustment or application screen, by using explicit exchange instructions.

(2) Save or restore from the Save parameters or Restore parameters commands from the PL7 Utilities menu, or using SAVE_PARAM or RESTORE_PARAM instructions.

264

TLX DS 57 PL7xx

Memory aids

TSX CAY Module Channel

Channel Diagram The following simplified diagram shows the channel functions for a TSX CAY module:

Processor TSX CAY module Application

Configuration

+ adjust

Parameters for configuration

Adjust

Setpoint

Loop

Loop

Encoder input

Speed drive output

SMOVE function

%Q / %QW

%I / %IW

Processing

Processing

I/O processing

RP cam input

Event input

Re-calibration input

Emergency stop input

Variable speed controller fault input

Speed drive enable relay output

Auxiliary output

TLX DS 57 PL7xx

265

Memory aids

CMD_FLT code error list

Introduction

Configuration parameters

266

Reading the CMD_FLT (%Mwxy.i.7) command refused word is done by explicit exchange. Non-encrypted messages are also available in the diagnostics dialog box, which can be accessed by the DIAG command.

Each DMD_FLT word byte is associated with an error type: l The most significant byte indicates an error in the configuration and adjustment parameters (XX00). l The least significant byte indicates that a movement command has been refused

(00XX).

For example : CMD_FLT = 0004 (the least significant byte indicates a JOG+ command error)

%MWxy.i.7 word

Configuration and

adjustment parameters

Most significant byte

Movement command

Least significant byte

These errors are indicated by the most significant %Mwxy.i.7 word byte. Numbers between brackets indicate hexadecimal code value.

10 (A)

11 (B)

12 (C)

18 (12)

19 (13)

20 (14)

21 (15)

22 (16)

25 (19)

Value

3 (3)

4 (4)

5 (5)

6 (6)

7 (7)

8 (8)

9 (9)

Indication

Event priority configuration error

Machine configuration error (eg infinite, limited)

Encoder type configuration error

Reference point configuration error

Maximum setpoint configuration error

Maximum acceleration configuration error

Event configuration error

Follower ratio multiplier configuration error

Follower ratio divisor configuration error

Recalibration configuration error

Speed configuration error

Upper limit configuration error

Lower limit configuration error

Initial resolution distance configuration error

Initial resolution counts number configuration error

Length unit configuration error

TLX DS 57 PL7xx

Adjustment parameter

TLX DS 57 PL7xx

Memory aids

Value

26 (1A)

27 (1B)

28 (1C)

29 (1D)

Indication

Speed unit configuration error

Resolution and speed ratio configuration error

Incompatible limits configuration error

Follower ratio configuration error

These errors are indicated by the least significant %Mwxy.i.7 word byte. Numbers between brackets indicate hexadecimal code value.

102 (66)

103 (67)

104 (68)

105 (69)

106 (6A)

107 (6B)

108 (6C)

109 (6D)

113 (71)

114 (72)

115 (73)

91 (5B)

92 (5C)

93 (5D)

94 (5E)

98 (62)

99 (63)

100 (64)

101 (65)

Value

82 (52)

83 (53)

84 (54)

85 (55)

88 (58)

89 (59)

90 (5A)

Indication

Acceleration profile parameter error

Gain 1 parameter error

Gain 2 parameter error

Threshold 1 and 2 parameter error

Feedforward speed parameter error

Offset parameter error

Overspeed parameter error

Stop speed parameter error

Stop delay parameter error

Acceleration parameter error

VLIM parameter error

Software Hi limit parameter error

Software Lo limit parameter error

Manual mode speed parameter error

Corrected resolution distance parameter error

Corrected resolution counts number parameter error

Reference point value parameter error

Recalibration position value parameter error

Following error 1 parameter error

Following error 2 parameter error

Debugging window parameter error

Recalibration deviation parameter error

Offset encoder parameter error

Resolution ratio parameter error

Incompatible soft stop parameter error

Maximal resolution and speed ratio parameter error

267

Memory aids

Movement command refused

268

Value

116 (74)

117 (75)

118 (76)

119 (77)

120 (78)

121 (79)

122 (7A)

Indication

Resolution ratio parameter, VMAX and encoder multiplier error

Upper limit resolution ratio parameter error

Low limit resolution ratio parameter error

Resolution ratio parameter error on limit distances

Resolution correction parameter error (<> OFF mode)

Encoder offset modification parameter error (<> OFF mode)

Recalibration position modification parameter error (<> OFF mode)

18 (12)

19 (13)

20 (14)

21 (15)

22 (16)

24 (18)

25 (19)

26 (1A)

27 (1B)

28 (1C)

These errors are indicated by the least significant %Mwxy.i.7 word byte. Numbers between brackets indicate hexadecimal code value.

Value

1 (1)

2 (2)

3 (3)

4 (4)

5 (5)

6 (6)

7 (7)

8 (8)

9 (9)

10 (A)

16 (10)

17 (11)

Message

Insufficient conditions MANU command error (eg Mode, Value etc.)

MANU movement in progress command error

Simultaneous MANU commands error

JOGP MANU command error

JOGM MANU command error

INCP MANU command error

INCM MANU command error

Manual PO MANU command error

Forced PO MANU command error

Encoder offset calculation error

Insufficient conditions AUTO command error (parameters)

Auto movement in progress AUTO command error (Slave or external

Command activated at the same time for one movement)

Insufficient conditions SMOVE command error (Mode)

SMOVE G01 command error (1)

SMOVE G09 command error (1)

SMOVE G10 command error (1)

SMOVE G11 command error (1)

SMOVE G21 command error (1)

SMOVE G14 command error (1)

SMOVE G05 command error (1)

SMOVE G07 command error (1)

SMOVE G62 command error (1)

TLX DS 57 PL7xx

TLX DS 57 PL7xx

Memory aids xx (xx)

35 (23)

36 (24)

37 (25)

38 (26)

48 (30)

64 (40)

80 (50)

81 (51

Value

29 (1D)

30 (1E)

31 (1F)

32 (20)

33 (21)

34 (22)

Message

SMOVE execution command error

Auto Slave command error

External Auto Cde command error

Slave mode in progress AUTO command error

External Auto Cde in progress command error

SMOVE in progress external command slave axis error

No zero latch on cam error during a reference point short cam with zero latch

Full stack error

Sequence control error

SMOVE G30 command error (1)

Change to next step error

Insufficient command - DIRDRIVE command error

SMOVE G01, G11 command error : already in position

SMOVE G30, command error : already in position

SMOVE G30 command error: change in direction

(1) Indicates that one of the SMOVE function parameters is not compliant. Examples

: Faulty movement type code, position outside soft stop, speed above VMAX, etc.

269

Memory aids

270

TLX DS 57 PL7xx

Interpolated axes

III

Introduction

Subject of this part

What’s in this part?

This part introduces linear interpolation and describes how to set up an interpolated axes control with a TSX CAY 33 module.

This Part contains the following Chapters:

Chapter

12

13

14

15

16

17

Chaptername

Introduction to Interpolation

Interpolation configuration

Programming interpolation

Adjusting interpolated axes

Debugging an independent axis control program

Interpolation memory aids

Page

273

277

281

313

323

333

271

TLX DS 57 PL7xx

Interpolated axes

272

TLX DS 57 PL7xx

Introduction to Interpolation

12

General Information on the Interpolating Function

At a Glance The interpolating function is available with a TSX CAY 33 module, which is used to carry out linear interpolation between 2 or 3 axes.

TSX CAY 33

XMOVE

This module consists of 3 physical channels associated with X, Y and Z axes, and a logic channel (channel 3) dedicated to interpolation.

Before implementing an application for interpolated axes, each of the axes must be set independently. Interpolation can then be carried out between 2 axes (0 and 1) on the (X, Y) plane or between 3 axes (0, 1 and 2) in the (X, Y, Z) space.

For interpolating 2 axes, the third axis (axis 2) can be used and an independent axis.

TSX CAY 33 module does not offer circular interpolation. However, to get from point

A to point B following a circular trajectory, it is possible to approximate this type of trajectory by using a succession of straight segments.

273

TLX DS 57 PL7xx

Introduction to Interpolation

Configuring

Interpolation

Interpolator

Channel

Programming

Movements command

The number of interpolated axes may be set in the interpolator configuration

(channel 3), after channels 0 to 2 have been configured as independent axes.

If 2-D is specified, interpolation is implicitly declared on the XY plane ( with X: 0 axis and Y: 1 axis). Channel 2 may be used as an independent axis.

If 3-D is specified, interpolation is implicitly declared in the XYZ space and/or on the planes which make up XY, YZ or XZ space (where X: 0 axis, Y : 1 axis and Z: 2 axis).

Configuring the 2 or 3 independent axes that you would like to interpolate is necessary in order to access interpolator configuration.

The XMOVE command is used to program interpolated movements. This command is an addition to SMOVE axes, not a substitute.

Axes are only interpolated during the execution of an XMOVE command. Outside of

XMOVE commands, they can be commanded independently by an SMOVE command.

Interpolated axes movement command

Independent axes movement command

274

TLX DS 57 PL7xx

Speed

Introduction to Interpolation

The speed which you specify in the XMOVE command is the desired speed in the direction of movement. The movement speed of each axis is calculated by means of a projection.

Example for a 2 axis system

The moving part must move from point A (X

A

, Y

A

) to point B (X

B

, Y

B

) at speed F, which projects onto X and Y respectively in F

X

and F

Y

.

Using value F, which is provided in the XMOVE instruction, the interpolator calculates projections according to the formulae:

F

X

= F

× (

X

B

– X

A

) ⁄ ( ∆

X

)

F

Y

= F

× (

Y

B

– Y

A

) ⁄ ( ∆

X

) with

∆

X =

[ (

X

B

– X

A

) 2

+

(

Y

B

– Y

A

) 2 ]

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Introduction to Interpolation

Maximum Speed Speed F is limited to a maximum speed which depends on: l l the maximum speeds of each axis affected by the movement, the contribution of each axis within the movement.

Example:

Acceleration

FX # 0

F < VMAX_axeX

|X

B

- X

A

| = |Y

B

- Y

A

|

F

Y

= F

X

F < (F

X

2

+ F

Y

2

)

1/2

For each XMOVE movement, the duration of the acceleration phase depends on: l l l the speed variations to be performed, the Tacc parameters for the axes affected by the movement, the contribution of X, Y and Z axes.

The resulting calculated acceleration is the fastest that the movement can happen, while respecting the constraints of the different axes (the most constraining axis determines the duration of the acceleration).

The acceleration rule is defined by the SLOPE parameter from channel 3. This imposes a common rule over all axes during an XMOVE independently of SLOPE parameter value for X, Y and Z axes.

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13

Introduction

Subject of this section

What’s in this

Chapter?

This section describes the TSX CAY interpolation configuration screens (channel 3) as well as the parameters, which must be defined for the interpolated axes.

This Chapter contains the following Maps:

Topic

Accessing the interpolation parameters configuration screen

Entering interpolation parameters

Page

278

279

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277

Interpolation configuration

Accessing the interpolation parameters configuration screen

Preliminaries

Accessing interpolation parametering

Channel 3 is dedicated to interpolation. Before configuring channel 3, the independent channels affected by the interpolated movement must be configured.

To access interpolation parametering, select the TSX CAY 33 module and confirm

(double-click on the picture of the module).

2

3

Step

1

Description

Choose channel 3 from the Choose axis field

Select the Interpolation function from the Function field

Select the task associated with channel 3: MAST or FAST.

The task selected (MAST or FAST) must be the same for channel 3 as for the other channels affected by the interpolation. If a task is different, a dialog box appears during confirmation to indicate the channel number which does not have the same task as channel 3.

Note: The interpolated channel axes must be a limited type. It is not possible to interpolate infinite axes.

If an infinite axis has been selected, a dialog box will appear while confirming to indicate that the channel number is not a limited axis type.

Interpolation parameters configuration screen

The following screen is used to set the parameters for channel 3:

TSX CAY 33 [RACK2 POSITION 2]

Configuration

Designation : 3 CHAN. AXIS CONT. MOD

Symbol : Interpo

Choose axis: Function :

Chan. 3 Interpolation

Channel functions

0 X 1 Y 2 3 I

Task :

MAST

Size

2 Axes

Event

EVT 19

3 Axes

Stop axes on fault

Interpolated All

Stop function

XMove Auto mode General

Special

Functions...

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Entering interpolation parameters

Channel functions

Dimension

The Channel Function zone reports on the axes affected by interpolation.

The following example represents a 3 axis interpolation:

Channel functions

0 X 1 Y 2 3 I l l l l

Channel 0 is the X axis.

Channel 1 is the Y axis.

Channel 2 is the Z axis.

Channel 3 is the interpolation axis for X, Y and Z axes ( letter I).

The following example represents a 2 axis interpolation:

Channel functions

0 X 1 Y 2 Z 3 I

Channel 2 may be configured as an independent channel (a curve replaces the letter

Z in field 2). In this case, interpolation will only affect channels 0 and 1. Functions are displayed on the interpolation debugging screens.

The Dimensions field is used to set the number of interpolated axes :

Command

2 Axes

3 Axes

Description

Channels 0 and 1 are interpolated

Channels 0, 1 and 2 are interpolated

Stop Function This field is used to set the role of the STOP command in channel 3 (%Qxy.3.15):

Command

XMOVE

Auto mode

General

Description

The STOP command is only effective on an XMOVE which is in progress.

The STOP command is active in auto mode and affects all axes which can be interpolated, even if they are used independently.

The STOP command is active in all modes (eg Auto, Manu etc) and affects all axes which can be interpolated, even if they are used independently.

Note: It is advised to chose the XMOVE command as a default.

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Interpolation configuration

Event

Stop axes on fault

This field is used to select the event task associated with channel 3.

This field is used to define the effect of a blocking fault:

Command

Interpolated

All

Description

A blocking fault stops axes affected by the XMOVE command which is in progress.

A blocking fault stops all axes which can be interpolated, even if they are being used independently when the fault appears.

Note: It is advised to choose the Interpolated command as a default.

Special

Functions

Confirming configuration parameters

This command is reserved for special usage.

When all parameters have been configured, confirm this by using the Edit

→

Confirm command, or by activating the icon

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14

Introduction

Subject of this section

What’s in this

Chapter?

This section describes the programming principle for an interpolated movement: description of the main instructions and operating modes.

This Chapter contains the following Maps:

Topic

Programming interpolated movements

Entering XMOVE function parameters

Description of XMOVE function parameters

Instruction codes for XMOVE function

Description of elementary movements

Programming a Move to Non-stop Position

Programming a Move to Position with Stop

Programming a movement until event detection

Programming an await event

Programming PREF1 register intialization

General conditions of acceptance

Sequencing movement commands

Concurrent XMOVE and SMOVE functions

Interpolator channel automatic mode

Event processing with interpolated axes

Fault management

Description of command refused faults

Managing measurement (OFF) mode

299

304

305

306

294

296

297

298

Page

282

284

285

289

291

292

293

307

310

311

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281

Programming interpolation

Programming interpolated movements

Introduction

Assisted entry screen

The XMOVE instruction must be used to program an interpolated movement. This instruction is automatically sent to channel 3 of the TSX CAY 33 module.

The XMOVE function can be entered directly or via the assisted entry screen : Call

function :

PL7 : Library Functions

EF

Function information: Parameters

Family

Bit tables

Character strings

Lib. V App.V

Name

2.00

2.00

-

XMOVE

Interpolation command 1.00

-

Movement command 1.00

-

Call format

Parameters of the METHOD :

Nom Type Nature Commentaire

Channel MAIN Channel

NRUN WORD IN Movement Number

G9 World IN G9

Détails...

Comment

Interpolation command

Famille

?

Display the call

XMOVE ( )

OK Cancel l l

Note: The XMOVE EF displayed in red in the help screen for entering functions cannot be used in the application. EF is displayed in red if:

An older version of the EF is already being used in the application.

The name of the EF is being used as a symbol associated with a variable.

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Assisted entry

Programming interpolation

Go into the selected program editor, then proceed as follows:

Step

1

4

5

2

3

6

Action

Press the Shift and F8 keys together, or click on the F(…) icon. The Call

function window is then displayed.

Select the Parameters option.

Choose the Interpolation command family from the library.

Choose the XMOVE function.

Press the Details button, and fill in the different fields that are offered. Function variables can also be entered directly into the parameters entry zone.

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

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Programming interpolation

Entering XMOVE function parameters

Introduction An interpolated movement command is programmed by an XMOVE function using the following syntax:

XMOVE %CHxy.3(N_Run,G9_,G,SPACE,X,Y,Z,F,M)

The Details screen assists in entering each parameter.

XMOVE function details screen

The XMOVE function details screen is as follows:

XMOVE

N_Run 5 Cancel

Movement codes

Channel address

Movement number

F

[X,Y,Z]

G01 G09 G10 G92

+

+

++ x y z

G05

OK Cancel

G

SPACE 0 Cancel

X

Position increment

120

Y

Mov

23

0

Movement speed

F 23

Parameters M

Evt source

X

Y

Movement speed

Group

Z 16#1080

Entry fields (for XMOVE function parameters) as are follows:

Parameter

%CHxy.3

N_Run

G9_

G

SPACE

X, Y and Z

F

M

Description

Channel address

Movement number

Movement type

Instruction code

Plane or space number

Coordinates for reach position

Moving part movement speed

Event processing

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Description of XMOVE function parameters

Introduction The following parameters must be entered for programming an interpolated movement function:

XMOVE %CHxy.3(N_Run,G9_,G,SPACE,X,Y,Z,F,M)

Channel address %CHxy.3 sets the channel address for the axis command module in the PLC configuration: y

3

Parameter x

Indication

Rack number

Module position in the rack

Interpolating channel number

Movement number

Movement type

N_Run defines the movement number (between 0 and 32767). This number identifies the movement effected by the XMOVE function.

In debugging mode, this number is used to identify the movement in progress.

G9_ defines the movement type:

Code

90

91

98

Movement type

Movement to an absolute position.

Movement to a relative position with respect to the current position.

Movement to a relative position with respect to the stored position

PREF1

To choose the movement type, use the scroll button on the right of the G9_ field, or enter the code directly during a "direct entry" (without going via the Details screen).

Instruction code G defines the XMOVE function instruction code (See Instruction codes for XMOVE

function, p. 289).

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Programming interpolation

Plane or space number

SPACE defines the plane or space number where the movement must take place.

This parameter specifies the list of axes affected by the movement :

1

2

Code

0

3

Indication

Movement in the XY plane.

Movement in the XZ plane.

Movement in the YZ plane.

Movement in the XYZ space.

Note: When the group of interpolated axes is in 2-D, the SPACE field must be at

0. The Z field for the XMOVE function becomes not significant and is disregarded.

Coordinates for reach position l l

X, Y, Z defines the coordinates for reach position for channels 0, 1 and 2, or for the position which the moving part is heading for (in the case of a non-stop movement).

This position can be: immediate, coded in pairs of %MDi internal words or %KDi internal constants (these words can be indexed).

This value is expressed as a unit defined by the Length Unit configuration parameter for each axis.

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Moving part movement speed

F defines the speed of the moving object (or the movement speed required for the direction of movement to be carried out). This speed can be: l l immediate, coded in a double %MDi internal word or %KDi internal constant (this word can be indexed).

Example for a 2 axis system

Using speed F, the interpolator calculates FX and FY projections which are used to guide the 2 axes on their trajectory.

The actual movement speed is equal to required speed F multiplied by the CMV speed modulation coefficient, whose value can be adjusted in the interval [0.001,

2.000].

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Programming interpolation

M Parameter M defines a word which codes the following on nibbles (in hexadecimal): l Activation or non-activation of the event processing application trigger for G05 l and G10 instructions: l Nibble 3 to the value of 1: activation l Nibble 3 to the value of 0: non-activation

List of events which can end instruction G05 or G10: l Nibble 1: bit 0 for event entry, or EXT_EVT bit for X axis, bit 1 for event entry, or EXT_EVT bit for Y axis, bit 2 for event entry, or EXT_EVT bit for Z axis, bit 3 for group EXT_EVT bit.

If several bits are set to 1, the event which ends the instruction is the first event on the resulting list. (the module carries out the logic OR of the events).

M Parameter :

Byte 3 2 1 0

16#

Note: Coding is automatically completed in the M field on the Details screen, when the choices have been made using the check-boxes and buttons offered by the screen.

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Instruction codes for XMOVE function

Introduction

Instruction codes list

The G parameter defines the instruction code.

To choose the instruction code, either use the scroll button on the right of the G field, or press on the icon which corresponds to the movement. You can also enter the code directly with a "direct entry" (without going via the Details screen).

The instruction codes which can be chosen from the Details screen are as follows:

Instruction code

09

Indication

Movement on position with stop

Icon

01

10

05

92

Movement on position without stop

Movement until event with stop

Await event

Initializing the PREF1 registers for X, Y and Z axes

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Programming interpolation

Imaging on

Details screen

The Details screen also displays an image which represents the selected movement.

For example, code G09 :

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Description of elementary movements

Introduction

Types of movement

2 types of movement category can be programmed: l l movements on a position ( instruction codes 01 and 09), movements until event detection (instruction code 10).

During the program and movements, the reach positions, speed and interpolating plane / space can all be defined. The acceleration parameters are defined by adjusting them.

Types of movement are as follows: l Absolute in relation to the machine homing point (code 90).

Example : non-stop movement on the XY plane, up to position (50000, 10000), up to a speed of 1000.

l

XMOVE %CH102.3(1,90,01,0,50000,10000,0,1000,0)

Relative in relation to current position (code 91).

Example : non-stop movement on the XY plane, l an increment (+2000, -1000) in relation to the current position, up to a speed of 500.

XMOVE %CH102.3(1,91,01,0,1,2000,-1000,0,500,0)

Relative in relation to PREF latched position (code 98)

Example : non-stop movement on the XY plane, an increment (+2000, +5000) in relation to the previously latched position, up to a speed of 800.

XMOVE %CH102.3(1,98,01,0,5000,2000,0,800,0)

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Programming interpolation

Programming a Move to Non-stop Position

Instruction The move to non-stop position instruction is as follows:

Instruction

Moving to non-stop position

Instruction code

01

Icon

Example XMOVE %CH102.3 (1,90,01,0,5000000,1000000,01000,0)

Y

B

Position (microm)

Y

V

Y

Y

A

A

B

XY Plane V x

V x

X

A

V

Y

X

X

A

V x

X

B

Position

(microm)

V

Y

Y

A

Y

B

X

B

X

Y

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Programming a Move to Position with Stop

Instruction The move to position with stop instruction is as follows:

Instruction

Moving to position with stop

Instruction code

09

Programming interpolation

Icon

Example XMOVE %CH102.3 (1,900,09,0,5000000,1000000,01000,0)

Y

B

Position (microm)

Y

V

Y

Y

A

A

X

A

V x

B

XY Plane V x

V x

X

A

V

Y

X

B

X

Position

(microm)

V

Y

Y

A

Y

B

X

B

X

Y

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Programming interpolation

Programming a movement until event detection

Instruction The movement until event detection instruction is as follows :

Instruction

Movement until event detection with stop

Instruction code

10

Icon

Event

The G10 instruction moves axes until detection of an event or up to the position specified in the absence of an event.

The awaited event can be: l A rising or falling edge (according to selections made while configuring) on one of the reflex inputs for one of the interpolated axes.

l A command from the application which can be: l a rising edge EVT_EXT bit for one of the axes, l a rising edge EVT_EXT interpolator bit,

Nibble 1 for parameter M is used to specify the axis (or axes) for the awaited event:

X Axis – Reflex input or EVT_EXT (%Qxy.0.10) bit

Y Axis – Reflex input or EVT_EXT (%Qxy.1.10) bit

Z Axis – Reflex input or EVT_EXT (%Qxy.2.10) bit

Interpolator - EVT_EXT (%Qxy.3.10) bit

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Example

Programming interpolation

Movement in the XY plane until detection of an EVT on X axis reflex input, at a speed of 1000. In the absence of an EVT, axes stop at (300000, 100000). Task event is activated on detection of the EVT

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Programming interpolation

Programming an await event

Instruction The await event instruction is as follows:

Instruction

Await event

Instruction code

05

Icon

Awaited event

This instruction is used to wait for an event with a Time Out (in ms), defined in the F parameter. If an event does not appear within the Time Out period, the await command is then deactivated. If F parameter is defined at 0, the wait is without a time limit.

The awaited event can be: l l a change in the status of a reflex input for one of the interpolated axes, a command from the application.

Nibble 1 for parameter M is used to set the axis (or axes) for the awaited event:

Event task

X Axis – Reflex input or EXT_EVT (%Qxy.0.10) bit

Y Axis – Reflex input or EXT_EVT (%Qxy.1.10) bit

Z Axis – Reflex input or EXT_EVT (%Qxy.2.10) bit

Interpolator - EXT_EVT (%Qxy.3.10) bit

The G05 instruction can activate an event task on detection of an event, if nibble 3 of parameter M is set to 1.

TO_G05 (Ixy.i.49) bit is set to 1 when the Time Out period has expired without an event being detected, providing task event activation has been requested. For example, wait with a Time Out period of 1.5 s and with task event activation:

XMOVE %CH102.3 (1,90,05,0,0,0,0,1500,16#1000)

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Programming PREF1 register intialization

Instruction The initializing PREF1 registers instruction is as follows:

Instruction

Initializing PREF1 registers

Instruction code

92

Programming interpolation

Icon

Example

The G92 instruction is used to initialize PREF1 registers of different axes. These registers are used by relative movement instructions (code G98).

l l l

Nibble 1 of parameter M is used to select the list of axes affected by this initialization: bit 0 for X axis, bit 1 for Y axis, bit 2 for Z axis.

Initializing PREF1 registers of X and Y axes to 2000 and 4000 respectively:

XMOVE %CHxy.3 (1,90,92,2000,4000,0,0,16#0030)

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Programming interpolation

General conditions of acceptance

Introduction The general conditions of acceptance for the XMOVE function are as follows : l l l l

There is no fault: bit GP_OK = 1.

Configuration is compliant: bit CONF_OK = 1.

Axes are referenced: bit REF_OK = 1.

Axes affected by the movement are in automatic mode, where bits DONE = 1 and ENABLE = 1. These axes are also stopped.

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Sequencing movement commands

Producing a trajectory

TSX CAY 33 module does not offer circular interpolation. However it is possible to approximate any trajectory by a succession of segments.

Example of a 2 axis system trajectory:

An XMOVE command corresponds to each elementary segment of the trajectory.

Note: Each elementary XMOVE command must only be performed once. It is therefore necessary that the program to be executed is either l l in Grafcet: in one step, on activation or deactivation of this step, in structured text or contact language : on the rising edge of a bit.

A report on function execution is provided by the module using the NEXT and

DONE bits.

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Programming interpolation

Buffer memory TSX CAY 33 possess a mechanism which is used to sequence movement commands.

The interpolator has a buffer memory (or stack) which can receive 3 movement commands in addition to what it is in the process of executing. Thus when a movement in progress has finished, it proceeds directly to the first command present in the buffer memory.

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Sequencing mechanism

Programming interpolation

1 st

execution

1 st

execution

1 st

execution

1 st

execution

1 finished

2 nd

execution

2 nd

execution

2 finished

3 rd

execution

3 finished

4 th

execution

4 finished

5 th

execution

5 finished

301

Programming interpolation

Empty stack

Instant sequencing

Command refusal

Constraints on

XMOVE movements

When the stack is empty and a G1 type movement has been requested, it does not start if the module has not received the following movement.

l l

Sequencing between 2 movement commands is as follows : instantaneously if the first movement is non-stop, as soon as the moving part is in the target window, or after time delay TSTOP has expired (which is defined in the stop control on parameter adjustment screen) if the first movement is with a stop.

For the sequencing to be instantaneous, the instruction execution time must be more than the duration of the task in which the XMOVE commands have been programmed.

l l

Refusal of an XMOVE command is indicated by the following data:

CMD_NOK bit (%Ixy.3.6) which indicates a refusal,

CMD_FLT (%MWxy.3.7) word which indicates the cause of the refusal. Reading this word requires a READ_STS instruction.

The following XMOVE movements cause command refusal (CMD_NOK), stop the l l l moving part and reset the buffer memory to zero. sequencing a G05 or G92 after a G01, absence of an instruction after a G01, receiving a command with a SPACE parameter affecting an axis which is not stationary, while it is not being affected by a previous XMOVE command (this is where an XMOVE is with an axis whose last movement was an SMOVE G1).

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Programming interpolation

Bits associated with a sequencing mechanism

The following bits are associated with the sequencing mechanism:

Bit

NEXT (%Ixy.3.0)

DONE (%Ixy.3.1)

Description

Indicates to the program application that channel 3 is ready to receive the following XMOVE command.

Indicates the command in progress has finished being executed and there are no new commands in the buffer memory.

TH_PNT (%Ixy.3.10) Indicates that the setpoint value has been reached on the axes affected by the XMOVE.

AT_PNT (%Ixy.3.9) At the end of a movement with a stop, this indicates that for all the axes affected by the movement the moving part is in the target window.

Note: The NEXT bit or the DONE bit must always be tested before executing an

XMOVE command. A new command must only be sent to the module if the buffer memory associated with the axis to be guided is not full.

The SYNC_N_RUN word (%Ixy.3.8) periodically provides the number of the step in progress, in order to carry out movement sequencing.

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Programming interpolation

Concurrent XMOVE and SMOVE functions

Introduction

Example

It is possible to combine movement instructions for a single axis (SMOVE) with movement instructions for several axes (XMOVE) within the program. This can be used to alternate interpolated movements with non-interpolated movements.

The program must refer to objects for the axis concerned before sending an

SMOVE, and must also refer to objects for channel 3 before sending an XMOVE.

Independent X and Y axis movement followed by an interpolated movement :

(X, Y) Plane

An interpolated axis movement prevents any SMOVE guidance relating to that axis

: a running XMOVE forces NEXT and DONE bits to 0 for the axes concerned.

In addition, the IN_INTERPO (%Ixy.i.32) bit for any moving axis affected by an

XMOVE is set at 1. This information, which can be accessed from the application, is designed to help with programming and monitoring.

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Interpolator channel automatic mode

Introduction The Automatic mode is the active mode for interpolated axes. Interpolated movements can only be carried out with this mode.

Automatic mode is mainly used to send a movement command (code G) via an

XMOVE function. This command is designed to perform an interpolated movement by momentarily creating a link between several axes.

Channel 3 in automatic mode

Channel 3 in automatic mode does not modify the current mode, nor 2 (or 3) module axis commands in progress. In this way movements (or debugging) which are carried out independently axis by axis in manual, loop disabled control and automatic modes, are always performed via the positioning function for each axis in the module.

The actual engagement of automatic mode is indicated by the IN_AUTO (%Ixy.3.23) bit.

Commands in automatic mode

In automatic mode, the following commands are used to act on the XMOVE function: l CMV : speed modulation coefficient. This coefficient affects the current tangent speed setpoint in a ratio of 1/1000 to 2000/1000 (%Qwxy.3.1) l CMV = 0 : Feed hold command which stops the moving part, while ensuring that upon the resume movement command (CMV #0), the programmed trajectory is followed. Feed holdstatus is indicated by theIM_PAUSEbit (%Ixy.3.34).

l Pause : Pause command which is used to suspend XMOVE movement sequence. The pause is only active when the moving part is stationary. This is indicated by the ON_PAUSEbit (%Ixy.3.33).

l MOD_STEP (%Qxy.3.19) : is used to execute a movement sequence by stopping after each elementary instruction. Status is indicated by the IN_STEPbit

(%Ixy.3.39).

NEXT_STEPbit (%Qxy.3.22) is used to execute the next step.

l EXT_EVT (%Qxy.3.10) : is used to terminate a G05 or a G10.

The automatic mode can also access the following 2 commands which can be active during or outside of an XMOVE: l STOP : is a stopping order for the different axes which make up the interpolation

(according to the role of the STOP command that has been defined in the l configuration).

ACK_DEF : a rising edge acknowledges faults for all axes.

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Event processing with interpolated axes

Introduction Channel 3 on a TSX CAY 33 module can activate an event task. To do this, the functionality must have been enabled on the configuration screen by associating an event processing number to the channel.

Activating an event task

An event task is activated by the appearance of an event expected by G10 and G05 commands. For this to happen, nibble 3 from XMOVE function parameter M associated with the instruction must be equal to 1.

Usable variables for the event task l l

If several event sources are chosen, the following bits are used to determine the source trigger for event processing: l l

EVT_G1 (%Ixy.3.50) : event during instruction G10,

EVT_G05 (%Ixy.3.48) : event during instruction G05, l TO_G05 (%Ixy.3.49) : G05 timer expired

OVR_EVT bit (%Ixy.3.46) is used to detect a delay in event sending or an event loss.

Note: The words and bits described above are the only ones which are refreshed during execution of a task event. They are only updated in the PLC if the task event has been activated.

Event masking PL7 language offers 2 ways to mask events: l Instruction for global event masking : MASKEVT (UNMASKEVT is used for unmasking): l Bit %S38 = 0 (global event inhibition). %S38 bit is normally at 1.

Summary diagram

TSX CAY 33

Event task

EVTi

Processor

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Fault management

Introduction Fault monitoring is essential for axis command tasks, due to the inherent risks posed by active moving parts.

The moving part carries out checks internally and automatically.

Fault monitoring for interpolated axes

TSX CAY 33 channel 3 does not have a specific fault.

Fault information indicated by this channel is the logic OR of faults on axes configured in the interpolated movement (channel 0 and 1 faults in the case of 2 axis interpolation; channel 0, 1 and 2 faults in the case of 3 axis interpolation).

Fault information Fault information is as follows:

Fault information

Emergency stop

Speed drive fault

Encoder break

Analog output short circuit

Auxiliary output short-circuit

Encoder supply

24 V supply

Absolute encoder frame

Software Lo limit

Software Hi Limit

Overspeed

Blocking following error

Non-blocking following error

Recalibration on the fly deviation

TW Debugging window

TSTOP Stopping speed

Bit

%MWxy.3.3:X5

%MWxy.3.3:X2

%MWxy.3.3:X4

%MWxy.3.3:X0

%MWxy.3.3:X1

%MWxy.3.3:X3

%MWxy.3.3:X6

%MWxy.3.3:X7

%MWxy.3.3:X9

%MWxy.3.3:X8

%MWxy.3.3:X10

%MWxy.3.3:X11

%MWxy.3.3:X15

%MWxy.3.3:X12

%MWxy.3.3:X13

%MWxy.3.3:X14

Note: Channel fault feedback for channel 3 is the same as that for an independent axis.

Fault information is only refreshed during the execution of a READ_STS instruction

(%Chxy.3).

TLX DS 57 PL7 xx

307

Programming interpolation

Levels of severity

Fault programming

Fault indicating

Faults are classed in 2 levels of severity: l Critical or blocking faults which cause the moving part to stop. The following processes then occur: l l the fault is indicated, the moving part slows down until analog output is zero, l deactivation of the speed drive enable relay, l clearing of all memorized commands, l wait for acknowledgement.

The fault must have disappeared and been acknowledged before the application can be re-started.

l Non-critical faults which give rise to fault indication without stopping the moving part. The PL7 must be programmed with what action to take in the event of this type of fault.

The fault indication disappears when the fault itself has disappeared and been acknowledged.

Faults can be viewed, corrected, and acknowledged from the debugging screen.

However it can be useful to be able to guide the moving part and correct faults from a console during operation. For this purpose, all the information and commands necessary are available within the application.

l l

The module supports a wide range of information in the form of bits and status words, all accessible through the PL7 program. These bits are used to process faults in hierarchical order : to act on the main program, to simply indicate the fault.

308

TLX DS 57 PL7 xx

Level of indicating

Programming interpolation

2 indicating levels are provided:

First level: general information

Bit

%Ixy.3.ERR

AX_OK (%Ixy.3.3)

AX_FLT (%Ixy.3.2)

HD_ERR (%Ixy.3.4)

AX_ERR (%Ixy.3.5)

CMD_NOK (%Ixy.3.6)

Error

Channel fault

No blocking error (with moving part stop) is detected

Fault (assembles all faults)

External hardware error

Application fault

Command refused

Second level: detailed information

Channel fault status word (%MWxy.3.3)

Note: With a blocking fault, it is advised to stop the changing sequential processing which is associated with the axes, and correct the fault. Correcting the fault must be followed by a fault acknowledgement.

Fault acknowledgeme nt

When a fault appears on one of the interpolated axes: l The axis fault bits: AX_FLT (%Ixy.i.2), HD_ERR (%Ixy.i.4), AX_ERR (%Ixy.i.5) and STATUS (%MWxy.i.3:Xj), as well as the faults bits associated with interpolating: AX_FLT (%Ixy.3.2), HD_ERR (%Ixy.3.4), AX_ERR (%Ixy.3.5) and

STATUS (%MWxy.3.3:Xj) are set to 1.

l If the fault is a blocking fault, the AX_OK bit is set to 0.

When the fault disappears, all fault bits retain their status. Faults are stored until they have been acknowledged through setting to 1 of the ACK_DEF bit (%Qxy.i.8, where i = channel number which has the fault) or the ACK_DEF interpolation channel bit

(%Qxy.3.8). Setting to 1 of the channel 3 ACK_DEF bit generates acknowledgement for all interpolated axes. Fault acknowledgement must be carried out after the fault has disappeared (except for soft stop faults).

If several faults are detected, the acknowledgement order will only act upon faults which have effectively disappeared. Persisting faults must by acknowledged again after their disappearance.

Note: Channel 3 (interpolator) does not store faults.

TLX DS 57 PL7 xx

309

Programming interpolation

Description of command refused faults

Introduction

Command refused

A command refused fault is generated each time a command cannot be executed.

This occurs when a command is not compatible with the axis state, with the mode in progress or where at least one of the parameters is not valid.

These faults are indicated by the Refus Cde LED on the debugging screens. At channel level, the DIAG key can be used to identify the source of the command refused fault. This information can also be accessed through a program with the

CMD_NOK bit (%Ixy.3.6) and the CMD_FLT word (%MWxy.3.7).

Th following table shows the cause, indication and the remedy in the event of a

Command Refused fault.

Cause

Parameter

Result

Indication

Remedy

Unauthorized movement command

Transfer of faulty configurations or parameters

None

Immediate stop of movement in progress

Buffer memory, which receives movement commands in automatic mode, is reset to 0.

CMD_NOK (%Ixy.3.6) bit : Movement command refused

CMD_FLT (%MWxy.3.7) word : type of fault detected l l

Least significant byte : movement commands,

Most significant byte : configuration and parameter adjust.

When a new command is received and accepted, acknowledgement is implicit.

Acknowledgement is also possible via the ACK_DEF command

(%Qxy.3.8)

Note: For movement sequences in automatic mode, it is advised to make the execution of each movement conditional upon the completion of the previous movement, and upon the AX_FLT bit (%Ixy.3.2). This will prevent the program moving on to the following command should the present command be refused..

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TLX DS 57 PL7 xx

Programming interpolation

Managing measurement (OFF) mode

Introduction Measurement (OFF) mode is the interpolator passive mode: the X, Y and Z axes are in independent axis state. It is therefore possible to command them in loop control disabled mode (DIRDRIVE) in manual or automatic mode.

No channel 3 command is taken into account in this mode, except for the fault acknowledgement command.

Stopping XMOVE If an XMOVE is in progress, switching to OFF mode will make it stop.

TLX DS 57 PL7 xx

311

Programming interpolation

312

TLX DS 57 PL7 xx

Adjusting interpolated axes

15

Introduction

Subject of this section

What’s in this

Chapter?

This section describes the parameter adjustment principle for the interpolation channel (channel 3 of module TSX CAY 33): accessing screens, description of parameters and adjustment procedure.

This Chapter contains the following Maps:

Topic

Accessing the interpolation adjustment parameters

Acceleration profile

Crossing Points

Page

314

315

316

313

TLX DS 57 PL7 xx

Adjustment

Accessing the interpolation adjustment parameters

Introduction

Accessing the parameters

To access the interpolation adjustment parameters, use the Adjust command from the View menu on the TSX CAY 33 module configuration screen. Adjust can also be selected in the module zone in the debugging or configuring screen.

The adjustment screen is used to select the channel to be adjusted, and enables access to current or initial parameters.

Command

Choose Axis

Function

Choose channel 3.

This button displays either the current parameters or the initial parameters. This function can also be performed using the F7 key.

Initial parameters

Current parameters

Adjustment parameters

The initial parameters are : l Parameters entered (or defined by default) in the configuration screen in offline mode. These parameters have been confirmed in the configuration, and transferred into the PLC.

l Parameters taken into account during the last reconfiguration in online mode.

Current parameters are those which have been modified and confirmed from the adjustment screen in online mode (or by program via an explicit exchange). These parameters have been replaced by the initial parameters after a cold restart.

The adjustment screen offers the following parameters:

TSX CAY 33 [RACK 0 POSITION 4]

Adjust

Designation : 3 CHAN. AXIS CONT.MOD.

Symbol :

Choose axis : Function :

Chan. 3 Interpolation

Fonction des voies

0 X 1 Y 2 Z 3 I

Acceleration profile

Rectangle

Crossing point

X speed delta

Y speed delta

Z speed delta

0 /1000 Smax.

0 /1000 Smax.

0 /1000 Smax.

CH3 DIAG ...

314

TLX DS 57 PL7 xx

Adjustment

Acceleration profile

Description of acceleration profile parameter

The acceleration law is common to all the interpolated axes.

Parameter

Acceleration profile

Indication

Acceleration law applied to moving part. This law, common to all the axes affected by an interpolated movement, replaces the current axis parameter during the movement.

By default : Rectangle

Acceleration profiles

The following acceleration profiles (See Description of Command Parameters,

p. 208) can be used:

l l l

Rectangle

!, 2 or 3 trapezoid

Triangle.

TLX DS 57 PL7 xx

315

Adjustment

Crossing Points

Description of

Speed Delta

Parameters

These 3 parameters (one parameter for each interpolated axis) are used to set:

Adjustment

Speed Delta X

Speed Delta Y

Speed Delta Z

Meaning

Variation of speed allowed on crossing points for each axis. The speed adjustment for the moving part at the crossing point allows the moving part to pass closer to the target point when the defined value is low.

These parameters are expressed as a thousandth of VMAX.

Limits: 0 to 500

Processing

Crossing Points

In a linear interpolation, when a succession of non-stop G01 type movements are performed, the concept of crossing points becomes clear.

For example, let us assume that an ABC trajectory is required.

A specified speed maintained up to B on the AB segment causes an overshoot

(figure 1). If the speed is reduced before arriving at B, then the real trajectory remains inside the ABC angle (figure 2).

Figure 1 Figure 2

316

TLX DS 57 PL7 xx

Overshooting

Adjustment

How to Avoid Overshooting: l The natural delay (following deviation) of each axis is used. To do this, it is l advised to moderate the feed forward gain adjustmentKV during interpolated movements.

In a sequence (G01, X1, Y1, Z1, F1) followed by another sequence (G01, X2, Y2,

Z2, F2), if F2 is smaller than F1, the speed trajectory is modified so that the desired speed is equal to F2 at the break point.

The following figure illustrates the modification of the speed trajectory so F2 speed is reached on the break point:

F1

F2

Break point

Feed X1, Y1, Z1 X2, Y2, Z2 l Role of the parameter: DELTASPEEDPATH

The module introduces a mechanism, which can reduce the speed at the point of crossing, according to the requested "Delta speed" (axial Delta speed X, Y or Z).

The function is implemented from the point at which the VMAX can be adjusted.

The function is active when:

∆

V

(of an axe)

> VMAX * DELTASPEEDPATH/1000

Note: The smaller the DELTASPEEDPATH parameter, the closer the point.

TLX DS 57 PL7 xx

317

Adjustment

Example V1 = V2 = 1000

VMAX

X

= VMAX

Y

= 4000

Y

B

V1

A l Crossing points mechanism inactive

Resulting tangential speed

V1

1000

V2

C

V2

X

Axial speed X

(V

X

2

+ V

Y

2

)

1/2

V1 V2

714

318

TLX DS 57 PL7 xx

Axial speed Y

714

Delta Vy

714

∆

V

Y

< VMAX * DELTASPEEDPATH/1000

DELTASPEEDPATH = 500

∆

V

Y

= 1428 < 1/2 * VMAX

Delta Vy

Delta Vy

Adjustment

TLX DS 57 PL7 xx

319

Adjustment

Further example V1 = V2 = 1000

VMAX

X

= VMAX

Y

= 4000

Y

B

V1

A l Crossing points mechanism active

Resulting tangential speed

V2

C

V1 V2

1000

X

Axial speed X

(V

X

2

+ V

Y

2

)

1/2

714

200

320

TLX DS 57 PL7 xx

Axial speed Y

714

200

200

714

Delta Vy

DELTASPEEDPATH = 100

∆

V

Y

= 1428 > 1/10 * VMAX

In this case a = 1/10 VMAX = 400

Adjustment

TLX DS 57 PL7 xx

321

Adjustment

322

TLX DS 57 PL7 xx

Debugging an independent axis control program

16

Introduction

Subject of this section

What’s in this

Chapter?

This section describes the parameter adjustment principle for the interpolation channel (channel 3 of module TSX CAY 33): Measurement, Automatic. It also describes the diagnostics screen which gives access to possible faults.

This Chapter contains the following Maps:

Topic

Principles of debugging an interpolated axis control program

Measurement mode (Off)

Automatic mode (Auto)

Interpolation diagnostics

Page

324

325

328

331

TLX DS 57 PL7xx

323

Debugging

Principles of debugging an interpolated axis control program

Introduction

Reminder of capabilities offered by PL7

Debugging screen

Axis control, integrated into PL7 programming, uses PL7 debugging functions.

Refer to principle for debugging an independent axis (See Debugging principles,

p. 222).

The task-specific debugging screen, unique to TSX CAY 33 module channel 3, allows access to all the information and commands required for debugging interpolation.

The program and moving part control zone offers 2 possible screens according to the operating mode selected via the mode switch: Measurement (OFF) or Automatic

(AUTO).

324

TLX DS 57 PL7xx

Debugging

Measurement mode (Off)

Introduction In this mode, the interpolation channel can be used to view either 2 or 3 interpolated axes. This mode supervises module axes.

The following screen shows the interpolation channel Off mode:

TSX SAY 33 [RACK 0 POSITION 4]

Symbol :

Choose

Chan. 3

Function :

Interpolation

Channel functions

0 X 1 Y 2 3 I

Auto

Off

Global unforcing

CH3 DIAG...

Movement

X

Y

XF

YF

Actual

Axe X

OK

Reference

Stopped

Enable

0

0

Target

0

0

AT Point

DONE

NEXT

Axe Y

OK

0

0

0

0

Following error

Reference

Stopped

Enable

0

0

AT Point

DONE

NEXT

Setpoint

0 -Direction

0 -Direction

I/O

X Event

X Aux cam

Y Event

Y Aux cam

Z Event

Z Aux cam

Faults

Command

Hardware

Axis

Ack.

TLX DS 57 PL7xx

325

Debugging

Description of

Movement field

This table shows the display zones for the Movement field:

Display zone

Current X, Y, Z

Target X, Y, Z

Current XF, YF, ZF

Target XF, YF, ZF

X, Y, Z Following error

X, Y, Z Setpoint

X, Y, Z Direction

Description

Displays the current position of the moving part on the X, Y and

Z axes respectively. This value is expressed in measurement units defined in the configuration

Displays the setpoint position of the moving part (reach position) on the X, Y and Z axes respectively

Displays the current speed of the moving part in measurement units (defined in the configuration) on the X, Y and Z axes respectively

Displays the setpoint speed of the moving part (speed to be attained) on the X, Y and Z axes respectively

Displays the deviation between the calculated setpoint position and the real position of the moving part on the X, Y and Z axes respectively

Displays the go to co-ordinates on the X, Y and Z axes respectively

+ Direction: indicates the part is moving in a positive direction on the X, Y and Z axes respectively

- Direction: indicates the part is moving in a negative direction on the X, Y and Z axes respectively

Description of

Axis X, Axis Y and Axis Z fields

This table shows the display zones for the Axis fields:

LED

OK

Referenced

Stopped

Confirm

AT Point

DONE

NEXT

State

Lit

Lit

Lit

Lit

Lit

Lit

Lit

Indication

Axis in operating state (no blocking fault)

Referenced axis

Moving part stationary

Active variable speed controller enable relay

The movement in progress is finished and the moving part is in the target window

The movement in progress is finished

The next movement may be sent

Note: The Confirm command in the Axis field is used to command the variable speed controller enable relay.

326

TLX DS 57 PL7xx

Debugging

Description of I/O field

This table shows the display zones for the I/O field:

LED

X, Y or Z Event cam

X, Y or Z Aux

Indication

State of signal (0 or 1) on Event input for X, Y or Z axes

State of signal (0 or 1) on auxiliary input for X, Y or Z axes

1 – LED lit, 0 = LED off

Description of

Faults field

This table shows the display zones for the Faults field:

LED / Button

Refus Cde

Hardware

Axis

Acq.

State

Lit

Lit

/

Lit

Indication

Last movement command refused

External hardware fault (eg encoder, speed drive, outputs, etc.)

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

Acknowledge faults button. Activating this button acknowledges all faults which have disappeared

TLX DS 57 PL7xx

327

Debugging

Automatic mode (Auto)

Introduction Automatic mode is used for executing XMOVE functions.

The debugging screen displays information for 2 or 3 axes, according to the number of interpolated axes.

The following screen shows interpolation channel automatic mode (for 3 interpolated axes) ::

TSX CAY 33 [RACK 0 POSITION 4]

Symbol :

Choose axis: Function :

Chan. Interpolation

Channel functions

0 X 1 Y 2 3 I

Auto

Off

Movement

Actual

X

Y

0

0

Target

0

Following error

0

0

0

Global unforcing

Direction

-Direction

-Direction

CH3

F

F8

STOP

0

SMC 1 000

Commands

/1000

Pause

Step by

Next step

0 N 0 G9_

Axis

OK

Reference

Stopped

Feed hold

0 G 0 Space

AT Point

DONE

NEXT

0

DIAG...

I/O

X Event

X Aux

Y Event

Y Aux

Z Event

Z Aux

Faults

Command

Hardware

Axis

Ack.

328

TLX DS 57 PL7xx

Description of

Movement field

Debugging

This table shows the display zones for the Movement field:

Display zone

Current X, Y, Z

Target X, Y, Z

F Current

F Target

X, Y, Z Following error

N

G9_

G

Space

X, Y, Z Direction

Description

Displays the current position of the moving part on the X, Y and

Z axes respectively. This value is expressed in measurement units defined in the configuration

Displays the setpoint position (reach position) on the X, Y and

Z axes respectively

Displays the current moving part speed using the measurement unit defined in configuration.

Displays the moving part setpoint speed (speed to be attained)

Displays the deviation between the calculated setpoint position and the real position of the moving part (the following error) on the X, Y and Z axes respectively

Indicates the step number for the instruction which is in progress

Indicates the movement type for the instruction which is in progress

Indicates the instruction code which is in progress

Indicates the space where the movement in progress is being carried out (0 = XY, 1 = XZ, 2 = YZ, 3 = XYZ)

+ Direction indicates the part is moving in a positive direction on the X, Y and Z axes respectively

- Direction : indicates the part is moving in a negative direction on the X, Y and Z axes respectively

Description of commands

This table describes the command zone:

Command

STOP F8

CMV

Description

Stops the moving part on all interpolated axes

Used to enter a value from 0 to 2000 which determines the speed multiplier coefficient (0.000 to 2000 in intervals of 1/

1000)

TLX DS 57 PL7xx

329

Debugging

Description of

Commands field

This table describes the command field buttons:

Command

Pause

Step by step

Following step

Description

Commands the moving part to stop at the end of a movement with a stop in progress

Changes the axis to step by step mode

Step by step mode activates the waiting movement

Description of

Axis field

This table shows the display zones for the Axis field:

LED

OK

Referenced

Stopped

Feed hold

AT Point

DONE

NEXT

State

Lit

Lit

Lit

Lit

Lit

Lit

Lit

Indication

All axes are in operating state

All axes are referenced

All axes are at a stop (moving part stationary)

Axis movement is suspended (Feed hold)

The movement in progress is finished and the moving part is in the target window

The movement(s) in progress is (are) finished

The following movement command can be sent to the module

Description of I/O field

This table shows the display zones for the I/O field:

LED

X, Y or Z Event cam

X, Y or Z Aux

Indication

State of signal (0 or 1) on Event input for X, Y or Z axes

State of signal (0 or 1) on auxiliary input for X, Y or Z axes

1 – LED lit, 0 = LED off

Description of

Faults field

This table shows the display zones for the Faults field :

LED / Button

Refus Cde

Hardware

Axis

Acq.

/

State

Lit

Lit

Lit

Indication

The last XMOVE received has been refused

External hardware error on one of the interpolated axes

Application fault on one of the interpolated axes

Acknowledge faults button. Activating this button acknowledges all faults which have disappeared

330

TLX DS 57 PL7xx

Debugging

Interpolation diagnostics

Introduction The various debugging, adjustment and configuring screens feature a DIAG button in online mode, which accesses details on faults detected by the module.

Channel Diagnostics

Interpo X axis Y axis Z axis

Internal faults (Group)

Communication

External faults (Group)

Speed controller fault

Encoder supply fault

Encoder break fault

Emergency stop fault

24V supply fault

Other faults (Group)

Command refused

Configuration, : adjust

Command :

OK

Diagnostics screen tabs

The diagnostics screen for channel 3 features 4 tabs which access possible faults for all the interpolated axes:

Tab

Interpo

X Axis

Y Axis

Z Axis

Description

Globalizes faults for all the interpolated axes

Displays channel 0 faults

Displays channel 1 faults

Displays channel 2 faults

TLX DS 57 PL7xx

331

Debugging

Description of the different fields

Each tab features the following fields:

Field

Internal faults

External faults

Other faults

Commands refused

Description

Internal faults within the module which generally require it to be replaced

Faults originating from the operating part

Application faults

Indicates the cause and the message number of command refusal (See

CMD_FLT code error list for interpolation, p. 341 )

332

TLX DS 57 PL7xx

Interpolation memory aids

17

Introduction

Subject of this section

What’s in this

Chapter?

This section provides a description of the interpolated movement function parameters as well as the objects exchanged between the axis control module and the processor.

This Chapter contains the following Maps:

Topic

Programming the XMOVE Interpolation Function

Interpolator data (implicit exchanges)

Adjustment parameters for interpolator (explicit exchanges)

Internal status data for the interpolator(explicit exchanges)

CMD_FLT code error list for interpolation

Page

334

336

338

339

341

333

TLX DS 57 PL7xx

Memory aids

Programming the XMOVE Interpolation Function

At a Glance The following parameters must be entered for programming an interpolated movement function:

XMOVE %CHxy.3(N_Run,G9_,G,SPACE,X,Y,Z,F,M)

Channel Address %CHxy.3 TSX CAY 33 module address in the PLC configuration: y

3

Parameter x

Meaning

Rack number.

Module position in the rack.

Number of the TSX CAY 33 module channel.

Movement

Number

N_Run movement address (0 to 32767). This is the number that identifies the movement performed by the XMOVE function. In debugging mode it allows the current movement to be known.

Movement Type G9_ movement type:

Code

90

91

98

Movement type

Movement to an absolute position value.

Movement to a value relative with respect to the current position.

Movement to a relative value with respect to the saved position.

Plane or Space

Number

SPACE plan or space number in which the movement should be effected, it details the list of axes affected by the movement.

1

2

Code

0

3

Meaning

Movement in the XY plane.

Movement in the XZ plane.

Movement in the YZ plane.

Movement in the XYZ space.

Co-ordinates for

Position to

Reach

X, Y, Z co-ordinates of the position to be reached for channels 0, 1 and 2 or position towards which the moving part should move.

This value is expressed as a unit defined by the Length Unit configuration parameter for each axis.

334

TLX DS 57 PL7xx

Memory aids

Moving Part

Movement Speed

F speed of moving part.

M Parameter M coding word on 2 4 bit bytes (among 4): l Q3: activation of or non-occurrence of event processing associated with channel

3 for instructions 05, 10, l Q1: list of axes affected by the instruction.

Description of Q1:

Q3 Q2 Q1 Q0

X X X X axis 0 axis 1 axis 2

Interpolator

Q2, Q0: not used

TLX DS 57 PL7xx

335

Memory aids

Interpolator data (implicit exchanges)

Internal command data

Interpolator internal command data is as follows:

Address

%Qxy.3.8

%Qxy.3.10

%Qxy.3.15

%Qxy.3.16

%Qxy.3.19

%Qxy.3.22

%Qxy.3.23

%QWxy.3.0

%QWxy.3.1

Symbol

ACK_DEF

EXT_EVT

STOP

PAUSE

Description

Fault acknowledgement

Trigger event order from processor

Immediate stop command (halting of moving part)

Suspend movements command at the end of a movement in progress

MODE_STEP

NEXT_STEP

Change to step by step mode command

Activate next step command

PCQ23_FCTSPE Special use

MODE_SELEC Mode selector

CMV Speed modulation coefficient.

336

TLX DS 57 PL7xx

Internal status data

Memory aids

Internal status data for the interpolator is as follows:

Address

%Ixy.3.0

%Ixy.3.1

%Ixy.3.2

%Ixy.3.3

%Ixy.3.4

%Ixy.3.5

%Ixy.3.6

%Ixy.3.8

%Ixy.3.9

%Ixy.3.10

%Ixy.3.12

%Ixy.3.14

%Ixy.3.20

%Ixy.3.23

%Ixy.3.33

%Ixy.3.34

%Ixy.3.39

%IDxy.3.2

%IDxy.3.4

%IWxy.3.7

%Ixy.3.ERR

Symbols

NEXT

DONE

AX_FLT

AX_OK

HD_ERR

AX_ERR

CMD_NOK

NOMOTION

AT_PNT

TH_PNT

CONF_OK

REF_OK

IN_DROFF

IN_AUTO

ON_PAUSE

IM_PAUSE

IN_STEP

X_SPEED

FOL_ERR

SYNC_N_RUN

ERROR

Description

Ready to receive another command

All instructions are executed : no instructions in the stack

Fault present on one of the axes

No blocking fault on axes

Hardware fault present

Application fault present

Command refused

Moving part stationary

Position of moving part on the target

Theoretical setpoint reached

Configured axes

Referenced axes

Measurement mode (OFF) active

Automatic mode (Auto) active

Movements sequence suspended

Movement suspended (Feed Hold)

Step by step mode active

Measured speed

Current following error in the space

Step number in progress

Channel fault

TLX DS 57 PL7xx

337

Memory aids

Adjustment parameters for interpolator (explicit exchanges)

Adjustment parameters

Interpolator adjustment parameters are as follows:

Address

%MWxy.3.23

%MWxy.3.24

%MWxy.3.25

%MWxy.3.26

%MWxy.3.27

Symbol

SLOPE

Description

Acceleration rule

0 = rectangle, 1 to 3 = trapezoid, 4 = triangle

TACC Acceleration / deceleration time:

DELTASPEEDPATH_X Speed threshold allowed on X axis

(in

0

/

00

of VMAX)

DELTASPEEDPATH_Y Speed threshold allowed on Y axis

(in

0

/

00

of VMAX)

DELTASPEEDPATH_Z Speed threshold allowed on Z axis

(in

0

/

00

of VMAX)

338

TLX DS 57 PL7xx

Memory aids

Internal status data for the interpolator(explicit exchanges)

Managing exchanges

%MWxy.3.0:Xj = Managing exchanges

Bit

X0

X1

X2

X15

Description

Status parameters (STATUS) exchange in progress

Command parameters exchange in progress

Exchanging adjustment parameters

Module reconfiguration in progress

Exchanges report

%MWxy.3.1:Xj = Exchanges report

Bit

X1

X2

X15

Description

Command parameters exchange report

Adjustment parameters exchange report

Configuration fault

Channel operating status

X6

X7

X8

X9

%MWxy.3.2:Xj = Channel operating status

X3

X4

X5

Bit

X0

X1

X2

Description

External error

External error

Terminal block fault

External error

Internal fault (module absent, inoperative, or in self-test mode)

Hardware or software configuration fault (module reference different from physical module)

Communication fault with processor

Application fault (configuration error) or command fault

Channel LED status

Channel LED status

TLX DS 57 PL7xx

339

Memory aids

Interpolation operating status

%MWxy.3.3:Xj = Interpolation operating status

Description

X2

X3

X4

X5

Bit Symbol

Blocking faults

X0

X1

ANA_FLT

AUX_FLT

DRV_FLT

ENC_SUP

ENC_BRK

EMG_STP

X6

X7

X8

X9

AUX_SUP

ENC_FLT

SLMAX

SLMIN

X10

X11

SPD_FLT

FE1_FLT

Non-blocking faults

X12 REC_FLT

X13

X14

X15

TW_FLT

STP_FLT

FE2_FLT

Analog output short-circuit fault

Auxiliary output short-circuit fault

Speed drive fault

Encoder supply fault

Encoder break fault

Emergency stop fault

24 V supply fault

Absolute encoder parity series fault

Software Hi Limit fault

Software Lo Limit fault

Overspeed fault

DMAX1 position deviation fault

Recalibration fault

Debugging window fault

Stopping (STOP) fault

DMAX2 following error fault

Other status data %MWxy.3.4

= N_RUN : step number in progress

%MWxy.3.5

= G9_COD : Movement type in progress

%MWxy.3.6

= G_COD : Instruction code in progress

%MWxy.3.7

= CMD_FLT : refusal report

%MDxy.3.12

= G_SPACE : list of XMOVE axes in progress

(0 = X and Y, 1 = X and Z, 2 = Y and Z, 3 = X, Y and Z)

%MDxy.3.13

= T_XPOS : position of target on X axis (reach position)

%MDxy.3.15

= T_YPOS : position of target on Y axis (reach position)

%MDxy.3.17

= T_ZPOS : position of target on Z axis (reach position)

%MDxy.3.19

= T_SPEED : speed to be reached

340

TLX DS 57 PL7xx

Memory aids

CMD_FLT code error list for interpolation

Introduction Reading the CMD_FLT (%Mwxy.i.7) command refusal word is performed by explicit exchange. Non-encrypted messages are also available in the diagnostics dialog box, which can be accessed by the DIAG command.

Each CMD_FLT word byte is associated with an error type: l The most significant byte indicates an error in the configuration and adjustment parameters (XX00). l The least significant byte indicates that a movement command has been refused

(00XX).

For example : CMD_FLT = 0023 (least significant fault indicates that the stack is full)

%MWxy.i.7 word

Configuration and

adjustment parameters

Most significant byte

Movement command

Least significant byte

TLX DS 57 PL7xx

341

Memory aids

99 (63)

100 (64)

101 (65)

102 (66)

103 (67)

104 (68)

105 (69)

128 (80)

19 (13)

20 (14)

21 (15)

27 (1B)

29 (1D)

35 (23)

96 (60)

97 (61)

129 (81)

130 (82)

131 (83)

146 (92)

147 (93)

148 (94)

149 (95)

Errors associated with interpolation

Value

18 (12)

These errors are indicated by the least significant %Mwxy.i.7 word byte. Numbers between brackets indicate hexadecimal code value.

Indication

The command cannot be executed for one of the following reasons: l l l l another command has not yet finished, the channel is no longer in Auto mode, there is a stop progressing on the channel, the channel relay is open (positioning only).

The G01 command cannot be executed

The G09 command cannot be executed

The G10 command cannot be executed

The G07 command cannot be executed (positioning only)

Code G_ is unknown

Stack is full Additional code G_ not stored

Code G_ is not authorized to follow a code G01

Code G01 is not executed without being followed by a movement code

Conditions concerning the execution of interpolated movements are not met on the X axis

Conditions concerning the execution of interpolated movements are not met on the Y axis

Conditions concerning the execution of interpolated movements are not met on the Z axis

Z axis is requested to move when this axis is not part of the group of interpolated axes

An axis in the process of being interpolated stops (changes mode, relay is opened, etc.)

Position targets requested for code G_ are outside soft stops

Code G01 has been refused because the next movement cannot be accepted

A change of direction is necessary for G09 / G10

G01 distance is too small

The movement distance which follows G01 is too small

The current speed is too great and/or the distance of G01 is too small to reach Vthreshold

Acceleration law is refused

Speed delta X does not conform

Speed delta Y does not conform

Speed delta Z does not conform

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"Cutting On the Fly" Utility

IV

At a Glance

Aim of this Part

What’s in this part?

This part introduces the "Cutting on the fly" utility for the TSX CAY22 module and describes its implementation.

This Part contains the following Chapters:

Chapter

18

19

20

21

Chaptername

Introduction to the "Cutting On the Fly" Utility

Configuring the "Cutting On the Fly" Utility

Programming the "Cutting On the Fly" Utility

Adjusting the "Cutting On the Fly" Utility

Page

345

347

353

359

343

TLX DS 57 PL7xx

General

344

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Introduction to the "Cutting On the

Fly" Utility

18

Introduction to the "Cutting On the Fly" Utility

At a Glance The main objective of this function is to be able to respond to applications consisting of: l l a "conveyor belt" axis, which transports a product, a "tool carrier" cart axis, which carries out return travel between a rest point and a "working" point, and which synchronizes position and speed with the belt.

The application therefore requires: l an axis channel, which acquires the advanced speed and position of a product to be cut l an axis channel which controls the movement of the cutting tool support and command with a discrete output.

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Introduction to the "Cutting On the Fly" Utility

Principle of the

"Cutting On the

Fly" Utility

The table below introduces the different stages of a cutting cycle.

5

6

Step

1

2

3

4

7

8

Action

The cart is in waiting position at the point of rest.

Note:The cutting value is a reading relative to the last cut made. This position is called "source control"

The card calculates the source control corresponding to the next cut and checks that the cut is possible.

When the product feed is equal to the length to be cut less a synchronization distance (in order to be synchronized at the point of synchronization), the cart accelerates and synchronizes with the controlling axis while aiming for the source control.

When the chariot is synchronized, it remains attached in position for the whole journey.

When crossing the tool descent point, an output commands the cutting action.

Upon indication that the cut (on a sensor input or position) is finished, the tool is rechucked.

Upon indication that the synchro (on a sensor input or position) is finished, the cart exits slave mode and stops as quickly as possible.

Upon indication of a theoretical stop, the cart returns to the rest position and slowly restarts the cycle.

Solution

Adapted to the

TSX CAY 22 V2.0

Module

Implementation of this utility with a TSX CAY 22 module V2.0 requires the definition of: l channel 0 as a control axis for the acquisition of the position measurement for the product to be cut (belt, conveyor). This is an infinite axis, which continually l advances in the positive direction.

Channel 1 as an axis for the cutting tool support cart. This is a limited linear axis, whose behavior is guided by the controlling axis feed. l l l

Channel 1 supports: the static command output for the cutting tool, the end of cutting sensor input (if necessary in the application), the end of synchro sensor input (if necessary in the application).

Note: If necessary, channel 0 can support the event cutting sensor input.

If the utility is not used, the module is totally compatible with preceding versions.

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Configuring the "Cutting On the

Fly" Utility

19

At a Glance

Aim of this

Chapter

What’s in this

Chapter?

This chapter describes the configuration screen for the "Cutting on-the-fly" utility

(channel 1 of the CAY 22 module V2.0 onwards) along with the associated parameters.

This Chapter contains the following Maps:

Topic

How to Access the Configuration Parameters for the "Cutting On the Fly"

Utility.

Description of Configuration Parameters

Page

348

350

347

TLX DS 57 PL7xx

Configuring the "Cutting On the Fly" Utility

How to Access the Configuration Parameters for the "Cutting On the Fly" Utility.

Preliminaries

Procedure

Channel 1 is dedicated to the limited tool carrier axis. Before executing a program consisting of a cutting on-the-fly instruction, channel 0 should be configured as an infinite machine.

It is advisable to enter the maximum value authorized into the modulo, so that the cutting length of the product is not limited.

The table below describes the procedure to follow to access the configuration screen for the "Cutting on the fly" utility.

Step Action

1 On the application hardware configuration screen, double click on the TSX CAY22 module.

Result: The following screen appears:

TSX CAY 22 [RACK 0 POSITION 3]

Configuration

Designation: MOD.CMD AXIS 2 CHNLS

Symbol:

Choose Axis:

Channel 1

Function:

Position control

Task:

MAST

Machine

Limited Infinite

Input interfaces

Incremental Encoder

Units

Length

Event

EVT

Inversion

Output

V Speed

Hi limit

Initial resolution

Distance

Lo limit

Axis 0

Cutting on the fly...

0 No. of points 0

Maximum limit

Sequence control

Max. Setpoint.

Reflex input

Max acc.

Vmax/

Standard rising edge and PRef1 processing

Slave Axis 0 Reference point

No reference point

Recalibration

Recalibration function missing

0

0

0

0 mV

0 ms

Configuration...

Masking

Faults...

Functions

(special)

?

?

2 Choose channel 1 from the Choose axis field.

3 Select the Position control function from the Function field.

4 Select the Limited option from the Machine field.

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TLX DS 57 PL7xx

Configuring the "Cutting On the Fly" Utility

Step Action

5 Click on the Cutting on-the-fly button from the Axis 0 field.

Result: The following screen appears:

Cutting On the Fly Configuration

Activation

Variable angle

Length produced = movement Axis 0/K0

Event tool deactivation

ACCE max. to return

1

Movement ratio

Cut on evt.

End of synchro on evt.

1

Enable Cancel

Ready

The Master/Slave (Slave axis 0) function and the re-calibration function are exclusive to the "cutting on the fly" utility.

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349

Configuring the "Cutting On the Fly" Utility

Description of Configuration Parameters

Preliminaries

Illustration

This subject only deals with specific parameters for the "cutting on the fly" utility. To configure an independent axis, see

Axis control configuration, p. 71

The screen below groups together all configuration parameters for the "Cutting on the fly" utility.

Cutting On the Fly Configuration

Activation

Variable angle

Length produced = movement Axis 0/K0

Event tool deactivation

ACCE max. to return

Enable

1

Movement ratio

1

Cut on evt.

End of synchro on evt.

Cancel

Ready

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TLX DS 57 PL7xx

Description of

Parameters

Configuring the "Cutting On the Fly" Utility

The table below describes the different parameters for the "Cutting on the fly" utility.

Parameter

Activation

Variable angle

Movement ratio

Length produced...

Event tool deactivation

Cut on evt.

ACCE max. to return

End of synchro on evt.

Description

If checked, the "cutting on the fly" utility is activated

Indicates that the cutting angle between the belt feed axis and the tool feed axis can vary dynamically.

The value of the %MDxy.0.65 and %MDxy.0.67 words allows this variation by application.

Cart speed = infinite axis speed x K0 x movement ratio using K0 =

(%MDxy.0.65 / %MDxy.0.67)

Comment: when this parameter is not checked, only the Movement ratio values are used

The cart speed then becomes: Infinite axis speed x Movement ratio

Indicates the speed movement ratio between the belt and cart.

Limits [1/sin80, 1/sin10];1, with 1/sin80 = 1.015426 and 1/sin10 = 5.758770.

The numerator and denominator should be whole numbers between 1 and

10.10

6

Indicates that the K0 factor is used when calculating the length of the product to be cut.

Length produced = length of belt movement / K0 with K0 = (%MDxy.0.65 / %MDxy.0.67).

Comment: when this parameter is not checked, the length of the product to be cut is equal to that of the belt.

Indicates that the tool deactivation time is ordered by the EXT_EVT output

(%Qxy.1.10) on channel 1. The tool is rechucked after this time.

Comment: when this parameter is not checked, it indicates that the tool deactivation time is triggered when a position crosses. The tool is rechucked after this time.

Indicates that the length to be cut can be determined by an EVENT input on channel 0. The cut reading is determined by the belt position at the event rather than the cutting distance on the event.

Indicates that the module should use the parameter Acce max for configuration when stopping after cutting.

Indicates that the end of synchronization time is ordered by the RECAL output on channel 1. Effective desynchronization is performed after this time.

Suspension occurs between the re-calibration and cutting on the fly utilities.

Comment: when this parameter is not checked, it indicates that the synchronization end time is triggered by a position. Effective desynchronization will be performed after this time.

All these parameters are deactivated by default. All combinations are possible.

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351

Configuring the "Cutting On the Fly" Utility

352

TLX DS 57 PL7xx

Programming the "Cutting On the

Fly" Utility

20

At a Glance

Aim of this

Chapter

What’s in this

Chapter?

This chapter describes the programming principle of the "Cutting on the fly" utility.

This Chapter contains the following Maps:

Topic

At a Glance

Programming the "Cutting On the Fly" Utility: SMOVE function

Page

354

355

TLX DS 57 PL7xx

353

Programming the "Cutting On the Fly" Utility

At a Glance

Preliminaries

Principle

All G codes already present on the TSX CAY22 V1.x are recognized and applied so that they are defined on channel 1 when the "Cutting on the fly" utility is activated.

In particular, they allow homing and initial positioning at the point of synchronization before beginning a cutting cycle.

The MANU, DRV_OFF, DIRDRIVE modes are not affected or modified when the cutting on-the-fly utility is activated on channel 1.

Cutting cycle macro

Speed

354

Phase 0 Phase 1 Phase 2 Phase 3

Time

Synchronization

Synchronized

moving parts Inversion of direction and return to idle position

Synchronization end

end position

Cart in idle position

Synchronization end position

Synchronization end position

The maximum acceleration of synchronization phase 1 is that of the adjustment screen.

TLX DS 57 PL7xx

Programming the "Cutting On the Fly" Utility

Programming the "Cutting On the Fly" Utility: SMOVE function

Preliminaries

Detailed

Description

This topic contains a description of the SMOVE function parameters with code 22.

The SMOVE function should be used to program a cutting on-the-fly movement with the following syntax: SMOVE %Chxy.1(N,Gp,22,Dist,Vit,M)

Parameter Description

%Chxy.1

Channel 1 address

N

Gp

22

Dist

Vit

M

Movement Number

Preparatory code. Possible values are: l l

90 : Normal cut

98 : Cut on event

Specific instruction code for cutting on the fly

Cutting length

Speed for return to rest point

Initialization of cut counter l l l l

Where:

(Dist/K0) < modulo/2

(Dist/K0) * K0 * Movement ratio > (PointSynchro - PointRepos)

Vit <= Vmax l

M = 0 or 16#0100. If M = 16#0100, the counter is then initialized at 0 then incremented if the cut is performed

The movement programmed can only be executed under the following conditions:

Axis conditions

Axis 0 Axis 1

Channel 0 should be configured as an infinite machine. It is advisable to enter the maximum value authorized into the modulo, so that the cutting length of the product is not limited.

The channel 1 cutting on the fly utility must be configured

Channel 0 should not have a blocking fault The operating mode should be set to automatic

It is essential that the numerator product for the Movement ratio with the K0 numerator be less than 2

30

Axis 1 should be referenced

TLX DS 57 PL7xx

355

Programming the "Cutting On the Fly" Utility

It is essential that the denominator product for the Movement ratio with the K0 denominator be less than 2

30

The drive should be Enable

The K0 ratio should be between 0.01 and 5 The cart should have come to rest. The preceding movement should be a G09 or G22 and should have the rest position as a position setpoint.

The distance between the * K0 * Movement ratio synchronization rest point and end point should be more than modulo/2 on channel 0

Code G98: l l

(Cutting distance on evt/K0) < modulo/2

(Cutting distance on evt/K0) * K0 *

Movement ratio > (Synchronization point position - Rest position)

Only the SMOVE with G22 instruction saves the control source point to memory. All other instructions or mode changes erase this memory.

If there is no control source point in the memory upon the next SMOVE with G22 instruction, the new control source point is equal to the conveyor belt position at the point at which the instruction was received plus the length of the Dist cut passed to parameters.

Dynamic

Condition for

Refusing

Command

A command is refused if:

When starting the tool, the module states:

Either the belt speed is too great in relation to the Vmax cart speed, or the synchronization distance is more than the distance between the synchronization point and the rest point.

Warning on

SMOVE with G22

"Value exceeded"

A warning is generated if the module states, when receiving the SMOVE with G22 instruction:

Either that the belt is too close to the control source point to cut, in which case, the module will calculate a new control source, which will allow cutting with the following formula:

New control source point = n * Dist + last control source point, where n is the smallest whole number which allows the cutting cycle to be implemented

Or that the control source point has been exceeded, in which case, the

FAIL_CMD_AUTO_COTE_DEPASSE 0x0042 Warning is given to the PLC at the beginning of the execution of G22.

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TLX DS 57 PL7xx

Programming the "Cutting On the Fly" Utility

Long Cut on

Event G98

Immediate Cut

A sensor detects the course of the product to be cut. When the event is received, the module memorizes the belt position and calculates the cutting point according to the following formula:

Control source point = Memorized position + Cutting distance on event.

The Dist parameter should have a value more than the cutting length on event so that the event triggers the tool. This forms a security system, if the event does not intervene during the final cutting distance.

Be careful not to disturb the event input on channel 0 when cutting on event.

To perform an immediate cut, the module should be in waiting phase 0 for starting a cart with the SMOVE with G22 instruction and receive a CoupeIm(%Qxy.1.20) rising edge command. The module will calculate the minimum cutting distance for a shorter piece than the one currently being carried out. The cutting position is saved as the control source for the next cut.

If the cart begins to move, the command for an immediate cut is ignored.

Operating Mode After carrying out each cutting instruction, the cut counter (%Iwxy.1.7) is increased.

While executing a G22, it is possible to prepare and send the module the consecutive cutting order at the end of the current cut, which can be identical or different to the current cut.

To halt the cutting operations using the cart at the rest point, it is possible to: l No longer send G22 and allow the current cuts (or those queuing in the module) to be completed l Send a Pause order to allow the current cut to be completed without moving on to the orders queuing in the module l Send a STOP order when the G22 is waiting (%Ixy.1.44)

The Feed hold command (via the CMV command reset) is ineffective.

The CMV alteration is ignored during the SMOVE with G22 command. Only the current CMV value present from the start of the command is taken into account.

A blocking fault on channel 1 stops the cart by exiting the synchronization status axis where it is.

Note: Alterations to your own parameters for the cutting on-the-fly are only adapted when the cart is at the rest point.

Comment: Detailed editing of the SMOVE with G22 instruction is not currently possible.

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Programming the "Cutting On the Fly" Utility

Tool Output

Operating Mode

In manual mode, this is the strict copy of the AUX_OUT (%Qxy.1.11) output bit.

In automatic mode, it is set by the M parameter for ALL instructions with a G code.

l l

During a G22 code instruction, the status depends upon:

The current position of the cart

The parameters: Tool descent position, Tool rechucking position, Tool deactivation time delay.

l The InhibTool (%Qxy.1.21) command.

Tool descent always takes place on the Tool descent position, without the use of a time delay.

The tool rechucking takes place on a position, after the Tool deactivation time

delay. The position is set either by the Tool rechucking position on the adjustment screen, or by the tool rechucking event if the Tool deactivation on evt. box is checked.

If the Tool deactivation on evt. box is checked, and the expected tool deactivation event does not occur, the Deactivation time delay will be triggered on the way to the Tool rechucking position.

Upon ordering STOP (%Qxy.1.15) the tool rechucks immediately, without any time delay. The axis begins to stop after the Tool deactivation time delay. If this time delay is zero, a value of 4ms is used.

During a SMOVE with G22 command, when the InhibTool (%Qxy.1.21) command is at 1, the auxiliary output is forced to 0. Therefore, the tool remains chucked, regardless of the cart’s position. If the tool was low, it is immediately rechucked, without using any time delay.

If the Tool deactivation on evt. box is checked, the EXT_EVT (%Qxy.1.10) command allows the tool to be rechucked before waiting for the Tool rechucking

position.

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TLX DS 57 PL7xx

Adjusting the "Cutting On the Fly"

Utility

21

At a Glance

Aim of this

Chapter

What’s in this

Chapter?

This chapter describes the adjustment screen for the "Cutting on the fly" utility

(channel 1 of the TSX CAY 22 module V2.0 onwards) along with the associated parameters.

This Chapter contains the following Maps:

Topic

How to Access the Adjustment Screen for the "Cutting On the Fly" Utility

Description of Adjustment Parameters

Applications to Various Cut Types

Memorandum for the "Cutting On the Fly" Utility

Page

360

362

364

366

359

TLX DS 57 PL7xx

Adjusting the "Cutting On the Fly" Utility

How to Access the Adjustment Screen for the "Cutting On the Fly" Utility

At a Glance This screen allows access to and modification of the adjustment parameters for the

"Cutting on the fly" utility.

It can be accessed in local or offline mode.

To access the adjustment screen for the "Cutting on the fly" service, the channel must firstly be configured to the "Cutting on the fly" service. The adjustment screen is used to select the channel to be adjusted, and enables access to the parameters.

360

TLX DS 57 PL7xx

Procedure

Adjusting the "Cutting On the Fly" Utility

The table below describes the procedure to follow to access the adjustment screen for the "Cutting on the fly" utility.

Step Action

1 From the TSX CAY 22 module debugging or configuration screen, select the Adjust mode.

Result: The following screen appears:

PL7 PRO: CUTTING ON THE FLY - [TSX CAY 22 [RACK 0 POSITION3]]

File Edit Services Eiew Tools AP Debug Options Window ?

?

?

Adjust

Designation: MOD.CMD AXIS 2 CHNLS

Symbol:

Choose Axis: Function:

Channel 1 Position control

Task:

MAST

Corrected resolution:

Distance 100 000

No.points:

Encoder offset

10 000

0

Movement monitoring:

Following error 1

Following error 2

Recalibration position

Recalibration deviation

Overspeed

VLim

12

2000

Parameters in manual mode

Speed

RP Value

Correction points

1000

1000 mV

0

0

% of Vmax.

500

25 000

Position loop:

Gain 1

Gain 2

Threshold of

Command:

Upper soft stop

Lower soft stop

Acceleration

Vmax/ 100 ms

1000

1000

500

Stop monitoring

/100s

/100s

Offset

Feed forward

/1000 of Vmax Ti

Acceleration profile

Rectangle

Cutting on the fly...

Delay

Speed

Target window

500

50

1000

0

10

0 mV

% ms

Following error 1: [0,25 000] LOCAL

2 Choose channel 1 from the Choose axis field.

3 Click on the Cutting on-the-fly button.

Result: The following screen appears:

Cutting On the Fly Configuration

U:SYS OVR

Idle position

Synchronization end position

Tool descent position

Tool rechucking position

0

0

0

0

Enable

Synchronization point position

Synchronization end time delay

Cutting distance on evt.

Tool deactivation time delay

Cancel

0

0

0

0 ms ms

Idle position: [0,100 000]

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361

Adjusting the "Cutting On the Fly" Utility

Description of Adjustment Parameters

Description of

Screen

Parameters

Description of the parameters:

Field

Rest position

Synchronization point position

Synchronization end position

Description

This parameter indicates the tool rest position in relation to the source point. The tool is set in this position following a cut.

Limits [S1_min, S1_max]

This parameter indicates the synchronization start position for the tool axis with the infinite axis.

Limits [Rest position, S1_max]

This parameter indicates the synchronization end position. When the tool crosses this point, the synchronization end time is triggered.

Limits [Synchronization position, S1_max]

Synchronization end time delay

Tool descent position

This parameter indicates that the synchronization end delay time and sets the synchronization period after crossing the synchronization end position or activating the synchronization end input (RECAL).

Limits [0,10000] units ms

This parameter indicates the tool descent position, which takes place in the direction of travel.

Limits [Rest position, S1_max]

Cutting distance on evt.

This parameter indicates the distance relative to the captured value at the moment of event processing when cutting on event.

Limits [0, S1_max]

Tool rechucking position

Tool deactivation time delay

This parameter indicates the tool rechucking time delay activation position, which takes place in the direction of travel.

Limits [Position of descent, S1_max]

This parameter indicates the delay time for rechucking the tool and sets the period for the lowered tool after crossing the tool rechucking position.

Comment: If STOP is ordered on the tool carrier and the tool is activated, this time is discounted before the axis stops.

Limits [0,10000] units ms

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TLX DS 57 PL7xx

Adjusting the "Cutting On the Fly" Utility

Adjustment of K0 parameter

In the configuration screen, if Variable angle has been validated, the K0 parameter can be modified by the application. This parameter shares channel 0 and does not appear in any entry screen. Initialization and modification are performed by using the

%MDxy.0.65, %MDxy.0.67 variables and the WRITE_PARAM %Chxy.0.65 and

WRITE_PARAM %Chxy.0.67 instructions. At the beginning of each cutting cycle, the module stringently checks that the numerator product for the Movement ratio with the K0 numerator and then the denominator product for the Movement ratio with the K0 denominator are both less than 2

30

. The module also checks that the K0 ratio is between 0.01 and 5.

If this is not the case, an error code is returned.

Adjustment of

DMAX2

Parameter

If the cutting on-the-fly utility is activated and in automatic mode, the DMAX2 parameter becomes the controlling parameter for the following error between the cart and the source control point. This monitoring is only active when the synchronizing phase is ignored by the other phases.

Adjustment of the Acceleration profile Parameter

During a G22 instruction, the synchronizing acceleration phase 1 is always realized using a rectangular acceleration profile, which is independent of the acceleration profile selected on the Adjustment screen.

Adjusting the Ti gain

When the cutting on-the-fly utility is activated, the Ti gain adjusted in the Adjustment screen is active at rest and also during the phase 2 of the moving part synchronization.

TLX DS 57 PL7xx

363

Adjusting the "Cutting On the Fly" Utility

Applications to Various Cut Types

Parallel Axes The product feed axis is parallel to the cart feed axis. The cutting tool moves perpendicularly to the product feed axis either by rotating or on a linear axis.

Tool carrier cart

Tool

Product

Cart axis channel 1

Conveyor channel 0

In this case, Variable angle and Product length = dep.Axe0/K0 are not checked, so Movement ratio = 1/1.

Axes with Angles The product feed axis and the cart feed axis form an angle. The cutting tool only moves up or down. The movement of the tool carrier cart should cover the whole of the surface of the product to be cut.

α

Cart axis channel 1

Product

Conveyor channel 0

Tool

In this case, Variable angle and Product length = dep.Axe0/K0 are not checked, so Movement ratio = 1/ sin

α

.

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TLX DS 57 PL7xx

Insertion of

Product with

Angles

Adjusting the "Cutting On the Fly" Utility

The product feed axis and the cart feed axis are parallel but the insertion of the product forms an angle to the belt. The cutting tool moves perpendicularly to the product feed axis either by rotating or on a linear axis. The feed speed is picked up when the product is inserted and varies from the belt speed.

Tool carrier cart

Tool

Product

Measure of speed

Product

α

Conveyor channel 0

In this case, Variable angle and Product length = dep.Axe0/K0 are checked, so

Movement ratio = 1/1, K0 = sin

α .

Variable Length

Cut

The Dist parameter from the SMOVE with G22 instruction allows consecutive cuts of varying length.

Long Cut on

Event

A sensor detects the course of the product to be cut. When the event is received, the module memorizes the position and calculates the cutting point according to the following formula: Control source = Memorized position + Cutting distance on event.

In this case, Cut on evt. is checked.

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365

Adjusting the "Cutting On the Fly" Utility

Memorandum for the "Cutting On the Fly" Utility

"Cutting On the

Fly" Utility Data

Adjust

Kmul Axis0

Kdiv Axis0

SyncTime

ToolUpTime

RE_POS

Slave_Off

Re_WDW

ToolDownPos

ToolUpPos

DistEvt

Tool

Inhibtool

AUX0_OUT

Objects Description

%MDxy.0.65

K0 numerator

%MDxy.0.67

K0 denominator

%MWxy.1.60

Synchronization support time

%MWxy.1.61

Active tool support time

%MDxy.1.43

Idle position

%MDxy.1.55

S synchronization point position

%MDxy.1.51

Synchronization end position

%MDxy.1.63

Tool descent position

%MDxy.1.65

Tool rechucking position

%MDxy.1.67

Cutting distance on evt

Objects

%Qxy.1.21

%Qxy.1.11

Description

Force auxiliary output during G22

Output command in manual mode

Miscellaneous Objects

EXT_EVT %Qxy.1.10

Coupelm %Qxy.1.20

Waiting_Master %Ixy.1.44

Synchronizing

IN_SLAVE

Ret_Neutral

ToolsOn

SYNC_N_RUN

AX_EVT Axis0

%Ixy.1.45

%Ixy.1.36

%Ixy.1.43

%Ixy.1.42

%IWxy.1.7

%Ixy.0.15

Description

Rechuck tool command

Immediate cut command

Waiting status during control source feed to point

Movement status towards the synchronization point

Cart feed status synchronizing

Return status towards the rest point

Cut status current

Cut counter

Event input status (for cutting on evt)

Comment: If the pre-symbolization service is used, double use objects are viewed with their old meaning and the new objects are not pre-symbolized.

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TLX DS 57 PL7xx

Limitations of

Use of "Cutting

On the Fly"

Utility

Adjusting the "Cutting On the Fly" Utility

When using the "Cutting on the fly" utility, channel 1 draws on the position, current speed and captured position information from channel 0. However, it does not manage the channel 0 operating mode. It is therefore the responsibility of the user not to disturb the operation of a cutting on the fly application with the following operations, which can cause disturbances: l l l

Channel 1 reconfiguration

Channel 0 adjustment

Mode change on channel 0 l Disturbance of position measurement on channel 0.

Axis 0 faults do not disturb SMOVE with G22. It is the responsibility of the application to manage the operating modes of axis 1 according to axis 0 when necessary.

The length of the maximum cut is defined by the infinite modulo channel 0 divided by 2. If the tool rechucking is to be performed when EXT_EVT is switching to 1 (tool deactivation on validated event), the module does not manage the TimeOut or associated security.

List of "Cutting

On the Fly"

Utility Error

Codes

Error

FAIL_CMD_AUTO_COND_EXEC_G

22_AXE0_K0

FAIL_CMD_AUTO_COND_EXEC_G

22_AXE1_K0

FAIL_CMD_AUTO_COND_PARAM_

G22_K0

FAIL_CMD_AUTO_VIT_PILOTE_TR

OP_GRANDE

0x0041

FAIL_CMD_AUTO_COTE_DEPASE 0x0042

FAIL_CMD_AUTO_SYNCHRO_TRO

P_COURTE

Value Description

0x002B "G22 auto command error, axis0 initial conditions"

The G22 command cannot be executed following problems connected to axis 0.

0x002C "G22 auto command error , axis1 initial conditions"

The G22 command cannot be executed following problems connected to axis 1.

0x002D "G22 auto command error, nonconforming parameters"

The G22 code parameters are inconsistent with the adjustment parameters.

0x0043

"G22 auto command error , axis0 control speed too fast"

"G22 auto command error, value exceeded"

"G22 auto command error, synchro distance too short"

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Adjusting the "Cutting On the Fly" Utility

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TLX DS 57 PL7xx

Glossary

A

Absolute encoder

Axis

This type of encoder directly delivers the numerical value of the axis position. The position measure is maintained in the event of a power outage.

The set of external elements that control the machine’s movements (speed reducer, encoder etc.).

The motor/drive/mechanics that command the moving part to move in a given direction (axis, linear movement) or around a set rotation axis (rotoid axis, circular movement).

D

Direction discrimination

Micro-programmed system, which determines the movement operating direction.

E

Emergency stop Movement stop with maximum deceleration.

Event Modules triggered by software or hardware (application specific module).

Events take priority in Mast or Fast tasks, and are executed upon detection.

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Glossary

The EVT0 event has the highest priority, the others share the same level of priority.

F

Feed forward gain (KV)

Following error

Co-efficient allowing adjustment of the action and feed forward of the position control loop (compromise between following/overshoot error at the stop point).

Deviation between the position setpoint and the measurement during movement.

Forced reference point movement

Write parameters procedure for measuring current position at a predefined value.

This operation references the axis.

G

Gray Code binary code known as reflected, in which the transition from term n to term n+1 is performed by modifying only one digit. Code reading is also performed unambiguously in this way.

I

Incremental encoder

Independent multi-axis pulse generator with 2 signals offset to 90º. These are produced according to the axis movement and are counted by the module.

Movement law is applied to each axis independently. Axes depart simultaneously, movement speed is a setpoint speed, movement time depends on the distance to be covered, the "axes" do not arrive at the same time; movement through space is ordinary. The aim is to arrive at the arrival address as quickly as possible without constraining the trajectory.

Infinite machines The moving part moves continually between the value 0 and the modulo limit (for example a conveyor belt).

Interpolation Allows 2 or 3 axes to be linked, so that movements can be made two or three dimensionally.

370

TLX DS 57 PL7xx

ISO

Glossary

International Standard Organization. The ISO code is the most used code. The transmission rules, formats and symbols are ISO standards. L’AFNOR belongs to

ISO.

L

Limited machine The moving part moves between two upper and lower limits in two directions.

M

Machine source Dimensioning reference for the machine axis.

Mechanical cam Mechanical shoulder fixed to an axis, which activates a sensor indicating the end of the moving part's journey.

Domain of evolution for measuring an infinite axis.

Modulo

Movement law This is the variation law applying to the acceleration, speed and position setpoints.

It is often illustrated by the curve: speed = F(time).

In an increasingly complex order, the following can be found: rectangular, triangular, trapezoidal, parabolic and squared sine laws.

P

Parameterable indexed position

(REFP)

Index value for the indexed position calculation, absolute position = index (REFP) + indexed position.

R

Reference point Write parameters procedure for measuring current position by moving the moving part and detecting external events (reference point input and/or cam input). This operation references the axis without moving.

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Glossary

Referenced axis Module status when reference point taken. Position measures are only meaningful and movements are only authorized in this status.

Resolution this is the smallest type of input information which provides information that can be measured from the output information.

Rotary pulse Pulse supplied by a rotary incremental encoder, detected at each complete turn of the axis.

S

Servo-system Automatic action control which consists of producing a physical variable conforming to a fixed or variable reference (position control, speed control etc.)

Software hi limit Upper limit for the position measure, which must not be exceeded by the moving part

(set by the SLMAX adjustment parameter).

Software lo limit Lower limit for the position measure, which must not be exceeded by the moving part

(set by the SLMIN adjustment parameter).

Speed modulation coefficient.

Multiplication co-efficient of a value between 0 and 2 for all speeds, in increments of

1/1000.

Speed setpoint Theoretical speed of the moving part calculated by the module following the maximum acceleration law and the programmed speed.

T

Target window

Trajectory

Position control tolerance around the stop point.

Following elementary movements between a departure address and an arrival address, passing through intermediary addresses. Movement between two addresses is performed using a specific movement’s speed or time.

372

TLX DS 57 PL7xx

V

Valid space of measurements

Total measurement points between 2 software limits.

Glossary

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Glossary

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TLX DS 57 PL7xx

Index

Symbols

%CHxy.3, 285

%CHxy.i, 116

%Ixy.i.ERR, 169

Numerics

24 V supply, 172

A

absolute encoder, 80

Absolute encoder frame, 172

absolute encoder with parallel outputs, 82

Acceleration profiles, 315

acceleration profiles, 210

Adjusting the variable speed controller, 91,

193

Adjustment

Accessing parameters, 195

Saving parameters, 196

adjustment

loop control parameters, 203

Adjustment of monitoring parameters, 212

Adjustment parameters

Confirming, 216

Restoring, 217

Saving, 217

Analog output short circuit, 171

Application faults, 166

application faults, 173

Approach speed, 183

TLX DS 57 PL7 xx

A C

Assisted Offset, 197

Assisted offset, 186

Authorized speed, 90

Auxiliary output short-circuit, 171

Await event, 140, 296

Axis type, 78

B

Bits associated with command sequencing,

146, 303

Blocking faults, 167, 308

Buffer memory, 145, 300

Button box, 243

C

Canceling references, 185

Channel address, 116, 285

Character entry not possible, 248

CMV, 246

command

acceleration, 209 acceleration profile, 209

Modulo, 208 soft stops, 208 command parameters, 208

Command refusal, 302

Command refused, 166, 177, 240, 310

Command sequencing, 145, 299

Concurrent XMOVE and SMOVE functions,

304

375

Index

Configuration

Adding a module, 74

Deleting a module, 75

Interpolation parametering, 278

Module parametering, 76

Moving a module, 75

Configuration editor, 73

Confirming parameters, 107, 280

Coordinates for reach position, 286

Coordinates for the reach position, 117

Critical faults, 167, 308

crossing points, 316

Current parameters, 196, 314

Customized measurement units, 84

D

Debugging

Accessing the diagnostics screen, 226

Activating animation, 224

Analog output, 226

Archiving, 241

Automatic mode, 236, 328

Bit forcing, 226

Changing the functioning mode, 226

Documentation, 241

Interpolated axes, 324

LED Indicators, 225

Loop control disabled mode, 229

Manual mode, 232

Measurement mode, 325

Stopping animation, 224

Unforcing, 226

debugging

measurement mode, 227

Deferred pause, 156

Diagnostics help, 247

Diagnostics screen, 240, 331

Diagnostics screen tabs, 331

DIRDRIVE, 187

Direct Offset, 197

Drive, 170

376

E

Elementary movements

using a limited machine, 122

using an infinite machine, 124

Emergency Stop, 170

Encoder break, 171

Encoder offset, 197

Encoder supply, 172, 248

encoder type, 79

Event, 92, 129, 140, 294, 296

Event input, 98

Event Processing, 163, 306

Event processing, 247

Event task, 140, 296

External faults, 240

External hardware faults, 166, 170

F

F, 117, 287

Fault management, 166

Fault monitoring, 246

Faults

Acknowledgement, 309

Acknowledgment, 168

Associated bits, 169, 307

Indicating, 308

Level of indicating, 309

Levels of signalling, 168

Programming, 167, 308

Signalling, 167

feed forward, 202

Feed forward gain, 205

Feed hold, 161

Forced reference point, 101, 139, 184

forced reference point, 203

G

G, 116, 285

G01, 119, 127, 289, 292

G04, 120, 138

G05, 120, 140, 289, 296

G07, 120, 141

G09, 119, 128, 289, 293

TLX DS 57 PL7 xx

G10, 119, 129, 289, 294

G11, 119, 129

G14, 120, 134

G21, 120, 136

G30, 119, 131

G32, 119, 131

G62, 120, 139

G9_, 116, 285

G92, 289, 297

gain, 201 gain 1, 201 gain 2, 201

gain threshold, 204

General conditions of acceptance, 298

H

hi and lo limits, 85

high-speed gain, 204

I

INC, 178

INC_M, 182

INC_P, 182

Inconsistent status words, 247

incremental encoder, 79

Incremental movement, 182

Indexed position, 143

Ineffective commands, 248

Initial parameters, 195, 314

Initial resolution, 83, 198

Initializing PREF1 registers, 297

Instant sequencing, 302

Instruction code, 116, 285

integral action, 205

Internal faults, 240

interpolating

introduction, 273

Interpolation

Automatic mode, 305

Channel functions, 279

Dimension, 279

Event, 280

Stop axes on fault, 280

Stop Function, 279

TLX DS 57 PL7 xx interpolation

configuration, 274 programming, 274

Inversion, 93

Inversion parameter, 194

J

JOG, 178

JOG_M, 180

JOG_P, 180

K

KP, 201

L

Levels of severity, 167, 308

Limits according to resolution, 89

loop control, 200

Loop control disabled mode, 187

loop control parameters, 200

Lost adjustments, 247

low-speed gain, 204

M

M, 118, 288

M parameter, 118, 288

Manual mode, 178

RP Value, 213

Speed, 213

Manual mode parameters, 213

MASKEVT, 164

Masking events, 306

Masking of events, 164

Masking of faults, 106

Master – slave mode, 153

master / slave axes

offset, 214 ratio, 214

Max. Modulo, 89

MAX_F1, 176

MAX_F2, 176

Index

377

Index

Maximum acceleration, 95

Maximum deceleration, 95

Maximum setpoint, 91

Maximum speed, 90

Measurement mode, 189, 311

Measurement units, 84

Methodology

Interpolated axes, 31

methodology

independent axis, 30

Module faults, 166

Modulo, 89

Modulo crossing, 239

Movement control

Following error, 206

Overspeed, 207

Recalibration, 206

VLIM, 207

Movement control parameters, 206

movement monitoring, 176

Movement number, 116, 285

Movement slaved to an external setpoint,

155

Movement slaved to another axis, 150, 152

Movement speed, 117, 181, 182, 287

Movement stop, 179, 188

movement stop, 138

Movement to position with stop, 128

Movement to position without stop, 127

Movement type, 116, 285

Movement until event detection, 129, 294

Movement view, 243

moving to non-stop position, 292

moving to position with stop, 293

N

N_Run, 116, 285

New parameters not taken into account, 247

Non-critical faults, 167, 308

Non-modifiable commands, 248

O

Observed distance, 199

OFF, 189

378

offset, 202, 205

Offset calculation, 186

Operating modes, 165

Changing mode, 113

Mode selection, 113

Other faults, 240

overshooting, 317

overspeed, 173

P

parameters associated with master / slave axes, 214

Plane or space number, 286

PLC in RUN, 165

Position tracking, 96

Power outage and restart, 165

Power-up, 165

PREF 1, 98

PREF1, 142

PREF2, 98, 142

Producing a trajectory, 145, 299

proportional gain coefficient, 201

R

Recalibration, 105, 175

Recalibration on the fly, 148

Reconfiguration, 165

Reconfiguring in online mode, 218

Reference point, 100, 134, 183

Reference point long cam, 103

Reference point on the fly on event, 136

Reference point short cam, 102

Referencing, 186

Releasing from soft stops, 181

Resolution, 198

RP_HERE, 184, 186

S

Sequence control, 94, 246

SET_RP, 183, 185

simple machining command, 131

Slaving, 150, 152

TLX DS 57 PL7 xx

SMOVE, 116

SMOVE function

Assisted entry, 114

Details screen, 115

Entering parameters, 115

Instruction codes, 119

Programming, 114

SMOVE function Parameter Description,

116

soft stops, 173

SPACE, 286

Special Functions, 280

speed delta, 316

Speed law, 188

SSI frame, 82

Stack, 302

Step by step mode, 158

stop, 174

Stop control

Delay, 211

Stop speed, 211

Target window, 211

Stop control parameters, 211

Storage of current position on event, 141

Storage of position, 98

Switching from RUN to STOP, 165

Synchronizing several axes, 156

T

target window, 174

Theoretical distance, 199

tracking error, 176

TSX CAY modules

inputs/outputs, 23

proposed functions, 24

U

UMAX, 91

UNMASKEVT, 164

V

Visual movement, 180

VMAX, 90, 198

TLX DS 57 PL7 xx

X

X, 117

X, Y, Z, 286

XMOVE

Acceleration, 276 maximum speed, 276

speed, 275

XMOVE function

Assisted entry, 283

Details screen, 284

Entering parameters, 284

Instruction codes, 289

Parameter Description, 285

Z

Zero latch presence monitoring, 104

zero pulse presence monitoring, 175

Index

379

Index

380

TLX DS 57 PL7 xx