It is not intended to replace any specific product documentation. On the contrary, it offers additional information to the product documentation, for installing, configuring and starting up the system.

A detailed functional description or the specification for a specific user application is not part of this document. Nevertheless, the document outlines some typical applications where the system might be implemented.

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 1

Abbreviations

Word/Expression

Advantys

Altivar (ATV)

CANopen

CoDeSys

ConneXium

EDS

E-OFF, E-STOP

Harmony

HMI

I/O

IclA (ICLA)

Alternating Current

Signification

SE product name for a family of I/O modules

SE product name for a family of VSDs

Name for a communications machine bus system

Circuit Breaker

Hardware-independent IEC 61131-3 programming software

SE product name for a Family of Transparent Factory devices

Direct Current

Electronic Data Sheet

Emergency Off switch

SE product name for a family of switches and indicators

Human Machine Interface

Input/Output

SE product name for a compact drive

Lexium/Lexium05/LXM

SE product name for a family of servo-drives

Magelis

SE product name for a family of HMI-Devices

MB - SL

Micro

NIM

SE name for a serial Modbus communications protocol

SE product name for a middle range family of PLCs

SE product name for a Network Interface Module

Personal Computer

Phaseo

PLC

Powersuite

Premium

Preventa

PS1131 (CoDeSys)

Sycon

SE product name for a family of power supplies

Programmable Logic Computer

An SE software product for configuring ALTIVAR drives

SE product name for a middle range family of PLCs

SE product name for a family of safety devices

SE Product name for PLC programming software with CoDeSys

Power Supply

Schneider Electric

Telefast

Tesys U

Twido

TwidoSoft

Unity (Pro)

Vijeo Designer

VSD

WxHxD

XBT-L1000

SE product name of a Field bus programming software

SE product name for a series of distributed I/O devices

SE product name for a decentralized I/O System

SE product name of a middle range family of PLCs

SE product name for a PLC programming software

An SE software product for programming Magelis HMI devices

Variable Speed Drive

Dimensions : Width, Height and Depth

An SE software product for programming Magelis HMI devices

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 2

Application Source Code

Introduction

Examples of the source code used to attain the system function as described in this document can be downloaded from our „Village“ website under this link.

The example source code is in the form of configuration, application and import files. Use the appropriate software tool to either open or import the files

Extension File Type Software Tool Required

AIW

CNF

Configuration File Advantys

Configuration File Sycon

FEF

GSD

ISL

PDF

PRO

PS2

RTF

STU

CSV

CTX

DCF

DIB

DOC

DOP

EDS

STX

TLX

TWD

VDZ

XEF

ZM2

CANopen definitions file

Comma Separated Values, spreadsheet

Sycon

Twidosoft

Unity

Device Configuration File Advantys

Device Independent Bitmap Sycon

Document file Microsoft Word

Project File

Electronic Data Sheet – Device Definition

Magelis XBTL

Industrial standard

Export file PL7

EDS file (Geraete Stamm Datei) Profibus

Island file, project file

Profibus definitions file

Advantys

Sycon

Portable Document Format - document

Projektdatei

Export file

Rich Text File - document

Adobe Acrobat

PS1131 - CoDeSys

Powersuite export file

Microsoft Word

Project file

Export file

Project File

Unity studio

PL7

Twinline control tool

TwidoSoft

Vijeo Designer

Unity Pro

Zeliosoft

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 3

Typical Applications

Introduction

Here you will find a list of the typical applications, and their market segments, where this system or subsystem can be applied:

Industry

• Small automated machine or plant components

• Remote automation systems used to supplement large and medium-sized machines

Machines/Services

• Automatic saws

• Automatic winders

• Cartoning machines or carton-folding systems

Foodstuffs/Pharmaceuticals

• Continuous dryers or continuous furnaces

Application Description Image

Infrastructure networks Used in the pumping stations of water supply networks for the purpose of getting water from processing plants to consumers.

Special-purpose machines

Used cost-effectively on special-purpose machines for assembly, processing, cutting operations, etc. (e.g., winding machines, automated assembly, wood machining).

Material conveyors Used in connection with transportation tasks that involve lifting and shuttling.

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 4

General

System

Introduction

The system chapter describes the architecture, the dimensions, the quantities and different types of components used within this system.

Architecture

The control section of this application consists of a Controller Inside PLC installed in an

Altivar 71 VSD. Operation at user level is via a connected Magelis HMI panel. The load section is implemented using an Altivar 71 and Altivar 31 variable speed drives, in addition to a Lexium05 servo drive. These are connected to the PLC via the CANopen bus system.

The bus system also features an Advantys STB for the connection of various I/O.

Layout

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 5

Components

Hardware:

• Master switch (NSC100 Compact)

• 24 V power supply (Phaseo)

• Controller Inside card installed in the Altivar 71

• ATV31 and ATV71 variable speed drives with integrated CANopen interface

• Lexium05 servo drive with integrated CANopen interface

• Motor circuit breaker (GV2)

• Preventa safety relay

• Emergency-off switch (XALK)

• Contactors (LC1D)

• Graphic display terminal (Magelis XBT-GT)

• Advantys STB distributed I/O island

• Standard AC motor

• Servo motor

Software:

• PS1131 (CoDeSys V2.3)

• PowerSuite for ATV31, ATV71 and Lexium05

• Vijeo-Designer V4.30

• Advantys Configuration Tool V2.0

Quantities of

Components

For a complete and detailed list of components, the quantities required and the order numbers, please refer to the components list at the rear of this document.

Degree of

Protection

Technicaldata

Not all the components in this configuration are designed to withstand the same environmental conditions. Some components may need additional protection, in the form of housings, depending on the environment in which you intend to use them. For environmental details of the individual components please refer to the list in the appendix of this document and the appropriate user manual.

Mains voltage

Power requirement

Drive power rating

Motor brake connection

Safety Level

400V AC

~ 15 kW

2x 0,75 kW, 6x 0,37 kW und 5x 1,4 kW none

5x 2,5mm² (L1, L2, L3, N, PE)

Cat. 3 (optional)

Safety Notice

The standard and level of safety you apply to your application is determined by your system design and the overall extent to which your system may be a hazard to people and machinery.

As there are no moving mechanical parts in this application example, category 3

(according to EN954-1) has been selected as an optional safety level.

Whether or not the above safety category should be applied to your system should be ascertained with a proper risk analysis.

This document is not comprehensive for any systems using the given architecture and does not absolve users of their duty to uphold the safety requirements with respect to the equipment used in their systems or of compliance with either national or international safety laws and regulations

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 6

Dimensions

The dimensions of the devices used (e.g., the PLC (in the VSD), variable speed drive(s), servo drive and power supply) are suitable for installation inside a control cubicle measuring 800x2000x600 mm (WxHxD).

In addition, the display and control elements required to control the system can be integrated into the control cubicle door.

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 7

Installation

Introduction

This chapter describes the steps necessary to set up the hardware and configure the software required to fulfill the described function of the application.

Assembly

Note

The application, as configured here, illustrates a possible machine calling for the use of a number of drives with a whole range of different requirements that acquire their input and output data locally via the PLC. Each of the motors is controlled separately by the PLC via the CANopen bus.

The components listed in the next chapter represent a selection of the components required. In particular, the number of motors used and their allocation to variable speed drives and the servo drive are determined by the relevant application (the number of inputs and outputs may also vary).

This document does not, therefore, claim to be comprehensive and does not absolve users of their duty to check the safety requirements of their equipment and to ensure compliance with the relevant national or international rules and regulations in this respect.

Safety Category 3 is suggested here as one possible option. It is not necessarily binding and not necessarily required for all applications. A proper risk analysis, in accordance with national and/or international standards and regulations, should be produced and verified for each individual system.

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 8

General

Hardware

• The components designed for installation in a control cabinet, e.g., Phaseo power supply units, Advantys I/O islands, safety modules, line circuit breakers, contactors, and motor circuit breakers, can be snapped onto a 35 mm top-hat rail.

• Master switches, Altivar variable speed drives and Lexium servo drives are screwed directly onto the mounting plate.

• Emergency-off, switches and housings for display and acknowledge indicators are designed for backplane assembly in the field; all switches can also be installed directly in a control cabinet (e.g., on control cabinet door) without their enclosing housings.

• There are two options for installing XB5 pushbuttons or indicator lamps: These pushbuttons or switches can be installed either in a 22 mm hole, e.g., drilled into the front door of the control cabinet, or in an XALD-type housing suitable for up to

5 pushbuttons or indicator lamps. The XALD switch housing is designed for backplane assembly or direct wall mounting.

• The operator and display terminal requires a cutout to be made in the front of the housing. It is then attached to the housing by means of screwed brackets.

• 400 V/3-phase AC wiring for the load circuits (ATV, LXM)

• 240 V AC wiring for the power supplies.

• 24 V DC wiring for the ATV/LXM control circuits and PLC/HMI power supply

The CANopen bus lines are used for the communication link between the PLC and the variable speed drives, servo drives and I/O island in the main cabinet.

Mains Switch

NSC 100 Compact

Emergency OFF

Switch

(tamper free)

XALK178G

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 9

Selector and pushbutton switch

XB5

Preventa safety relay

XPS-AF5130

Motor circuit breaker for 400 V AC for LEX05 and ATV71

GV2ME16

Motor circuit breaker for 400 V AC for ATV31 circuit breaker

(short-circuit protection)

GV2-L

Motor contactor

LC1D

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 10

Back-up fuse for

24 V DC

GB2-DB07

Power supply

ABL7RE2405

ATV31 variable speed drive incl. line supply and motor connection

ATV31H037N4

Description of terminals:

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 11

ATV71 variable speed drive incl. line supply and motor connection

ATV71H075N4

Description of terminals:

ATV71 variable speed drive

Controller Inside card

VW3 A3501

1. RJ45 connector for the

PS 1131 programming software

3. Connector for the 24 V power supply and 4 logic inputs

4. Connector for 6 logic inputs,

6 logic outputs, 2 analog inputs and 2 analog outputs and 2 common connections

5. 5 signaling LEDs

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 12

Lexium05 servo drive

3-phase

LXM05AD14N4

Lexium05 servo drive

3-phase

LXM05AD14N4

Power terminals see T4

Lexium05 servo drive

3-phase

LXM05AD14N4

Motor phase connection

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 13

Lexium05 servo drive

3-phase

LXM05AD14N4

Signal terminals

Lexium05 servo drive

3-phase

LXM05AD14N4

Motor encoder

Lexium05 servo drive

3-phase

LXM05AD14N4

Control power supply

HBC = Holding Brake

Control

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 14

Lexium05 servo drive

3-phase

LXM05AD14N4

Fieldbus wiring

Terminals 33-39 must be connected.

The motor brake (if present) must be connected via a holding brake control (HBC)

We use the RJ45 terminal for CANopen.

Servo motor

BSH0702P31A2A

(old:

SER39B4L3SSOAOO)

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 15

Power cable 3 m

VW3 M5 101R30

(old:GEA2MOAAAA003)

Feedback cable 3 m

VW3 M8 101R30

(old:GEA 2EAAAAA003)

Magelis HMI

XBT-GT 2330

Advantys STB

- 0 V

FG Earth

2 Serial Port COM1

3 Power Connection (see left)

4 Serial Port COM2 (RJ45)

6 Ethernet connector

(10BASE-T/100BASE-TX)

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 16

Advantys STB

CANopen bus adapter

STB NCO 2212

Advantys STB

Field power supply

STB PDT 3100

Note:

The output power supply can be deactivated independently of the inputs (e.g., in case of an emergency stop).

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 17

General

Software

Software is primarily used for two reasons, first for programming the Premium PLC and configuring CANopen communication and second for generating visualization.

The PLC is programmed using the PS1131 programming tool (CoDeSys).

The HMI application on the XBT-GT 2330 Magelis display terminal is configured using the

Vijeo Designer software.

The Altivar 71 and 31 variable speed drives and the Lexium05 servo drive can be parameterized via the front operator panel. However, using the PowerSuite software is much easier. As well as providing a convenient means of setting speed-drive/servo parameters, this software also enables data to be saved and archived. These functions are extremely useful as they mean that parameters can be restored rapidly whenever service tasks need to be performed. The software can also help you to optimize the parameters online.

The Advantys Configuration Tool software is used to parameterize I/O islands.

To use the software packages, your PC must have the appropriate Microsoft Windows operating system installed:

• Windows

• Windows XP

The software tools have the following default install paths:

• PS1131 (CoDeSys)

C:\Program Files\Schneider Electric\TwidoSoft

• Vijeo Designer

C:\Program Files\Schneider Electric\VijeoDesigner

• Advantys Configuration Tool

C:\Program Files\Schneider Electric\Advantys\

• PowerSuite for e.g., ATV31,ATV71,LXM05

C:\Program Files\Schneider Electric\PowerSuite

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 18

General

Communication

The following methods of communication are used between devices:

• CANopen

• Modbus

The machine bus enabling communication between the PLC and fieldbus devices is implemented in the form of CANopen.

Modbus is used for data exchange between the PLC and remote HMI (Magelis XBTG).

Connection cables are also required between the PC and the individual devices (for programming/parameterization).

Magelis HMI

PC – Connection Cable

XBTZG935

To download the

Configuration from the

PC to the HMI

Alternatively you can use the ethernet connection for the configuration.

Modbus

The standard set up can be found on the website

Modbus.org in the

Modbus specification

(Modbus_over_serial_lin e_V1.pdf, Nov 2002)

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 19

Modbus Connection

Between HMI (COM2) and ATV71.

Depending on topography and what components are used.

2 VW3 A8 306 R03

VW3 A8 306 R10

VW3 A8 306 R30

3 VW3 A8 306 TF03

VW3 A8 306 TF10

4 VW3 A8 306 RC

5 TSX CSA 100

6 TSX SCA 50

7 VW3 A8 306 D30

Connecting Modbus with

VW3A8306Rxx

For short distances you can use a direct connection between the

HMI(COM2) and ATV71.

This is, however, not in line with the Modbus specification.

If you have problems, use one of the methods listed above.

Turn the polarisation on, on the HMI.

Set the Polar switch to

Modbus

Modbus Cable (0,3 m) 2xRJ45

Modbus Cable (1,0 m) 2xRJ45

Modbus Cable (3,0 m) 2xRJ45

Modbus T-Junction with Cable (0,3 m)

Modbus T-Junction with Cable (1,0 m)

Terminal resistor

Modbus-Cable (100 m)

Modbus TAP with Terminal Resistor

Modbus-Cable (3,0 m) 1xRJ45

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 20

Note

The ATV71 must use the RJ45 port and NOT the Controller Inside card port!

Advantys STB

PC connection cable

STB XCA 4002

This connection cable is supplied with the

Advantys Configuration

Software.

Advantys STB

CANopen bus adapter

STB NCO 2212

CANopen fieldbus port

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 21

Advantys STB

CANopen bus adapter

STB NCO 2212

CANopen baud rate

Advantys STB

CANopen bus adapter

STB NCO 2212

CANopen address

The rotary switches on the STB NCO 2212 CANopen

NIM are used to set the network node address and the Advantys STB island’s baud rate.

1. Disconnect the island’s power supply.

2. Set the lower rotary switch to any position between 9 and 0 (baud rate setting is marked).

3. Select the baud rate you wish to use for fieldbus communication. Select an appropriate baud-rate setting for your system and network requirements.

0 - 10,000 bps 4 - 250,000 bps

1 - 20,000 bps

2 - 50,000 bps

3 - 125,000 bps

5 - 500,000 bps

6 - 800,000 bps

7 - 1 Mbps

In this example we have selected setting "5"

(500,000 bps).

4. Turn the upper rotary switch to the position corresponding to the baud rate you have selected (e.g., "5").

5. Power up your island to use the new settings.

The NIM only reads the rotary-switch settings on power-up.

The rotary switches on the STB NCO 2212 CANopen

NIM are used to set the network node address and the Advantys STB island’s baud rate.

1. Be sure to set the required baud rate (following the procedure described above) before setting the network node address.

2. Disconnect the island’s power supply.

3. Select a network node address that is available in your fieldbus network.

4. Set the lower rotary switch to the position corresponding to the one's place of the required node address. For network node address 14, the lower switch would be set to 4.

5. Set the upper rotary switch to the position corresponding to the ten's and hundred's place of the required node address. For network node address 14, the upper switch would be set to 1.

6. Switch on Advantys STB. The NIM only reads the rotary-switch settings on power-up.

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 22

Connection cable set for PowerSuite and

PS1131 (CoDeSys)

VW3 A8106

You will need the RS232 to RS485 adapter and the PowerSuite cable for the connection between the PC and the

PowerSuite software and VSDs/servos.

You will also need the adapter and the cable for the PS1131 software.

The cable must be disconnected and reconnected to the programming port on the

Controller Inside card installed in the ATV71.

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 23

CANopen junction box

VW3 CAN TAP2

For this application example, the slide switch must be set to

OFF.

If, unlike in this application, the junction box does not have an outgoing CANopen bus, the line terminator must be activated (i.e., set to

ON).

CANopen preassembled connection cable

VW3 CAN CARRxx

This cable is used to connect the junction box to the ATV31, ATV71 and LXM05.

CANopen connector

VW3CANKCDF180T

This connector is used for the link to the

CANopen master

(Controller Inside card in the ATV71).

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc

VW3 CAN CARR1

(length: 1.0 m)

VW3 CAN CARR03

(length: 0.3 m)

At the start of the bus, the terminating resistor must be active. To do this, set the switch to

ON. The bus cable must be connected on the incoming side.

Schneider Electric 24

CANopen connector

VW3 CAN KCDF 90TP

This connector is used for the link to the

Advantys STB I/O island.

CANopen connector assignment

VW3 CAN KCDF xxxx

At the end of the bus, the terminating resistor must be activated. To do this, set the switch to

ON.

CANopen cable

TCX CAN Cx yy

The cable is available in various versions (x):

Standard

No Flame

Heavy Duty and various lengths (yy):

50,100, 300 m.

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 25

Implementation

Introduction

The implementation chapter describes all the steps necessary to initialize, to configure, to program and start-up the system to achieve the application functions as listed below.

Function

Functional

Layout

Instructions for switching on and functional description

1. Switch on all fuses and motor circuit breakers.

2. Switch on the master switch.

3. Acknowledge emergency-off signals.

4. Acknowledge error messages to HMI.

5. You can now select MANUAL or AUTOMATIC mode on the main screen.

6. Manual: On the ATV31, AVT71 and Lexium screen, the individual motors can be moved independently of one another.

7. Automatic: No applications are active here.

8. The BUS display indicates the states of the individual CANopen nodes.

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 26

Communication

Introduction

This chapter describes the data passed via the communications bus (e.g. Modbus

Plus or CANopen) that is not bound directly with digital or analog hardware.

The list contains:

• The device links

• Direction of data flow

• symbolic name and

• Bus address of the device concerned.

Device Links

The Modbus and CANopen bus systems are used in this application.

The following devices are networked via CANopen:

- An Altivar 71 with Controller Inside – PLC, bus address 1 (master)

An Altivar 71 variable speed drive, bus address 2

- Five Lexium05 servos, bus addresses 3 to 7

- Six Altivar 31 variable speed drives, bus addresses 8 to 13

One Advantys STB I/O island, bus address 14

Two devices are interconnected via Modbus:

Magelis panel XBT-GT

Altivar 71 with Controller Inside PLC, bus addresses 2 + 8

The Controller Inside PLC and the variable speed drive can be addressed separately via different Modbus addresses over the same physical interface on the

Altivar.

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 27

CANopen

Addresses

The following CANopen settings are used in this application:

Controller Inside PLC is CANopen master

CANopen

COB-ID

Controller Inside

1. Altivar 71

2. Altivar 71

1. Lexium 05

2. Lexium 05

3. Lexium 05

4. Lexium 05

5. Lexium 05

1 none

1. Altivar 31

2. Altivar 31

3. Altivar 31

4. Altivar 31

5. Altivar 31

6. Altivar 31

Advantys STB 14

A baud rate of 500 kbps is used.

The settings for the heartbeat used to monitor the nodes are as follows:

Master 300 ms (PLC -> slaves)

Slaves 200 ms (slaves -> PLC)

Device

2. ATV71

1. LXM05

2. LXM05

Data Direction Device --> PLC (TPDO)

1.PDO

2.PDO

3.PDO

4.PDO

5.PDO

6.PDO

182

183

184

---

483

484

3. LXM05

4. LXM05

5. LXM05

1. ATV31

2. ATV31

3. ATV31

4. ATV31

5. ATV31

6. ATV31

185

186

187

---

485

486

487

Advantys STB 18E 28E

Data direction PLC --> Device (RPDO)

698

699

69A

69B

69C

69D

Device

2. ATV71

1. LXM05

2. LXM05

3. LXM05

4. LXM05

5. LXM05

1. ATV31

2. ATV31

3. ATV31

4. ATV31

5. ATV31

6. ATV31

Advantys STB

207

---

20E

1.PDO

2.PDO

3.PDO

4.PDO

5.PDO

6.PDO

202 -----

203 ----503 683

204

205

206

---

484

485

486

684

685

686

----487 687

688

68A

68B

68C

68D

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 28

Datalink

PLC <> ATV71

Controller Inside (CANopen-Master)

Address 2.ATV

Altivar 71 (CANopen-Slave)

Data direction PLC <-- ATV (TPDO)

Designation Index Designation

%IW

86 direct to EFB input direct to EFB input direct to EFB input not used not used not used

6041 Drivecom status register

6044 Control effort

603F Error Code not used

./.

Reserve

Data direction PLC --> ATV (RPDO)

Designation

direct from EFB output

./.

Reserve

./.

Reserve

./.

Reserve

Index Designation

6040 Drivecom command reg.

Address 2.ATV

%QW 80

%QW

85 direct from EFB output not used not used not used not used

6042 Target velocity

./.

Reserve

Datenlink

PLC <> LXM05

Controller Inside (CANopen-Master) Lexium 05 (CANopen-Slave)

Data Direction PLC <-- LXM (TPDO)

Address 1.LXM 2.LXM 3.LXM 4.LXM 5.LXM

%IW 91 107 123 139 155

Index Designation

6041 Drivecom status register

%IW

%ID

108

109

111

124

125

127

140

141

143

156

157

159

./.

Reserve

./.

Reserve

./.

Reserve

./.

Reserve

%ID

606B Velocity actual value

6064 Position actual value

Data Direction PLC --> LXM (RPDO)

Address 1.LXM 2.LXM 3.LXM 4.LXM 5.LXM

%QW 91 107 123 139 155

Index Designation

6040 Drivecom command reg.

%QW

%QD

108

109

111

124

125

127

140

141

143

156

157

159

./.

Reserve

./.

Reserve

./.

Reserve

./.

Reserve

60FF Target velocity

607A Target position

6081 Profile velocity

Datalink

PLC <> ATV31

Controller Inside (CANopen-Master) Altivar 31 (CANopen-Slave)

Data Direction PLC <-- ATV (TPDO)

Address 1.ATV 2.ATV 3.ATV 4.ATV 5.ATV 6.ATV Index Designation

%IW

170

171

172

175

176

177

180

181

182

185

186

187

190

191

192

195 ./.

Reserve

196 6041 Drivecom status register

197 6044 Control effort

%IW 173 178 183 188 193 198 603F Error Code

Data Direction PLC --> ATV (RPDO)

Address 1.ATV 2.ATV 3.ATV 4.ATV 5.ATV 6.ATV Index Designation

%QW

170

171

172

175

176

177

180

181

182

185

186

187

190

191

192

195 ./.

Reserve

196 6040 Drivecom command reg.

197 6042 Target velocity

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 29

Modbus

Addresses

Datalink

PLC <> STB

Address Bit

%IB400 0...5

%IB401 0...5

%IB402 0...5

%IB403 0...5

%IB404 0...3

%IB404 4...7

%IB405 0...5

%IB406 0...5

%IB407 0...5

%IB408 0...5

Controller Inside (CANopen-Master) Advantys (CANopen-Slave)

Data Direction PLC <-- STB (TPDO)

Input

Designation

1. Input Module, Input 1...6

1. Input Module, Status 1...6

2. Input Module, Input 1...6

2. Input Module, Status 1...6

3. Input Module, Input 1...4

3. Input Module, Status 1...4

1. Output Module, Echo 1...6

1. Output Module, Status 1...6

2. Output Module, Echo 1...6

word Designation

1 Slot 3 - Input 1...6

1 Slot 3 - Status 1...6

Slot 4 - Input 1...6

Slot 4 - Status 1...6

Slot 5 - Input 1...4

Slot 5 - Status 1...4

Slot 6 - Echo 1...6

Slot 6 - Status 1...6

Slot 7 - Echo 1...6

2. Output Module, Status 1...6

Data Direction PLC --> STB (RPDO)

Slot 7 - Status 1...6

Address

%QB400

%QB401

Bit

0...5

Designation

1. Output Module, Output 1...6

2. Output Module, Output 1...6

Output word Designation

1 Slot 6 - Output 1...6

1 Slot 7 - Output 1...6

The following Modbus settings are used in this application:

Magelis HMI is Modbus slave

Magelis HMI

Controller Inside

COM2

RJ45 on ATV71

1. Altivar 71

2. Altivar 71

2 not used

1 not used

RJ45

1. - 6. Altivar 31

1. - 5. Lexium05

1 not used

RJ45

A baud rate of 19.2 kbps is used.

There are 8 data bits, 1 stop bit and even parity.

There is only a Modbus link between the HMI and the Controller

Inside cards.

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Datalink

HMI <> PLC for Altivar

Controller Inside

Data Direction HMI <--> PLC (for Altivar)

Name Type Addr.

Bit Designation

Start

Estop

Dir

BOOL

Ackn

Error

BOOL

CommOK BOOL

Run BOOL

%MW

ATV71

1000

1001

1002

ATV31

1010

1011

1012

ATV31

1020

1021

1022

ATV31

1030

1031

1032

0 Start Command

8 emergency Off

0 direction of Revolutions

8 Acknowledgement

0 Error message

8 Communication OK

0 running

Mot_ES BOOL

AC_pwr_OK BOOL

Res BOOL

%MW

1003

1004

1013

1014

1023

1024

1033

1034

8 Motor Emergency off

0 Power OK

8 Reserve

Speed_Set WORD %MW 1005 1015 1025 1035

Speed_Act WORD %MW 1006 1016 1026 1036

ErrCode WORD %MW 1007 1017 1027 1037

CANopen WORD %MW 1008 1018 1028 1038

---

Set Revolutions

Actual Revolutions

Errorcode

Status Communication

Data Direction HMI <--> PLC (for Altivar)

Name Type Addr.

Bit Designation

Start

Estop

Dir

Ackn

BOOL

Error BOOL

CommOK BOOL

Run BOOL

Mot_ES BOOL

%MW

ATV31

1040

1041

1042

1043

ATV31

1050

1051

1052

1053

ATV31

1060

1061

1062

1063

ATV71

1070

1071

1072

1073

AC_pwr_OK BOOL

Res BOOL

%MW 1044 1054 1064 1074

Speed_Set WORD %MW 1045 1055 1065 1075

Speed_Act WORD %MW 1046 1056 1066 1076

ErrCode WORD %MW 1047 1057 1067 1077

CANopen WORD %MW 1048 1058 1068 1078

---

Magelis HMI

Start Command

Emergency Off

Direction of Revolutions

Acknowledgement

Error Message

Communication OK

Running

Motor Emergency Off

Power OK

Reserve

Set Revolutions

--Actual Revolutions

--errorcode

--Status Communication

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Datalink

HMI <> PLC for Lexium

Name

Start

Estop

Dir

Ackn

ModeOK

Mode_T

CommOK

PosOK

Run

Mot_ES

Error

Res

Speed_Set

Speed_Act

Position_Set

Position_Act

Profil_spd

Node_ID

ErrCode

ErrorC

CANopen

SDO_EN

SDO_done

Mode

Controller Inside Magelis HMI

Data direction HMI <--> PLC (for Lexium05)

Type Address 1.LXM 2.LXM 3.LXM

Bit Designation

BOOL

%MW 1100 1122 1144

Start Command

Emergency off

BOOL

%MW 1101 1123 1145

Direction of Rotation

Acknowledgement

BOOL

%MW

1102

1103

1124

1125

1146

1147

Operating Mode OK

Operating Mode Selection

Communication OK

Position reached

BOOL

%MW 1104 1126 1148

BOOL

%MW 1105 1127 1149

DINT

%MW 1106 1128 1150

%MW 1107 1129 1151

%MW

1108 1130 1152

%MW 1109 1131 1153

DINT

%MW 1110 1132 1154

%MW

1111 1133 1155

%MW

1112 1134 1156

DINT

%MW 1113 1135 1157

%MW 1114 1136 1158

DINT

%MW

1115 1137 1159

WORD %MW 1116 1138 1160

WORD %MW 1117 1139 1161

WORD %MW

1118 1140 1162

WORD %MW

1119 1141 1163

BOOL

%MW 1120 1142 1164

WORD %MW 1121 1143 1165

0 Power OK

8 Motor running

8 Reserve

---

Set Revolutions

---

Actual Revolutions

---

Set Position

---

Error Message

Actual Position

Profile Speed

CANopen Address

Errorcode

Status Communication

SDO enable

SDO sent operation mode

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Datalink

HMI <> PLC for Lexium and STB

Name

Start

Estop

Dir

Ackn

ModeOK

Mode_T

CommOK

PosOK

Run

Mot_ES

Error

Res

Profil_spd

Node_ID

ErrCode

ErrorC

CANopen

SDO_EN

SDO_done

Mode

Controller Inside Magelis HMI

Data Direction HMI <--> PLC (for Lexium05 and Advantys STB)

Speed_Set

Speed_Act

Position_Set

Position_Act

Type Address 4.LXM 5.LXM

STB

BOOL

%MW 1166 1188 ---

BOOL

%MW 1167 1189 ---

BOOL

%MW

1168

1169

1190

1191

---

1251

---

BOOL

%MW 1170 1192 ---

BOOL

%MW 1171 1193

BOOL

%MW 1186 1208

WORD %MW 1187 1209

---

DINT

%MW 1172 1194

%MW 1173 1195

---

DINT

%MW

1174

1175

1196

1197

DINT

%MW 1176 1198

%MW

1177 1199

%MW

1178 1200

DINT

%MW 1179 1201

%MW 1180 1202

DINT

%MW

1181 1203

WORD %MW 1182 1204

---

WORD %MW 1183 1205

---

WORD %MW

1184 1206

---

WORD %MW

1185 1207 1250

---

Bit Designation

0 Start Command

8 emergency Off

0 Direction of Rotation

8 Acknowledgement

0 Mode OK

8 Mode Selection

0 Communication OK

8 Position reached

0 Resistance OK

8 Run message

0 Error message

8 Reserve

---

Set value Revolutions

---

Actual Revolutions

---

Set Value Position

---

Actual Position

---

Profile Revolutions

--CANopen Address

--Errorrcode

--Errorcode

--Status Communication

0 SDO enable

8 SDO sent

--Operation Mode

Datalink

HMI <> PLC

General

The following data points are used to animate the header in the HMI:

Controller Inside Magelis HM I

Data Direction HMI <--> PLC (for Lexium05 and Advantys STB)

Name

Pos1E

Pos1A

Pos1S

Pos2E

Type Address Bit Name Designation

BOOL %MX 997 0 Drive3.Pos equal 1.LXM Desired = Actual position

BOOL %MX 997 1 Drive3.Pos add 1.LXM Desired position +

BOOL %MX 997 2 Drive3.Pos sub 1.LXM Desired position -

BOOL %MX 997 8 Drive4.Pos equal 2.LXM Desired = Actual position

Pos2A BOOL %MX 997 9 Drive4.Pos add 2.LXM Desiredposition +

Pos2S BOOL %MX 997 10 Drive4.Pos sub 2.LXM Desiredposition all CANopen bus Devices

BusCANopen BOOL %MX

998 0

Head.CANopen

present

Safety

Alarm

Ackn

Auto

Manual

BOOL %MX 998 1

BOOL %MX 998 2

BOOL %MX 998 3

Head.Safety

Head.Alarm

---

Safety OK

No Error Messages

Error Acknowledge

BOOL %MX 998 4 Head.Auto

Automatic Mode

BOOL %MX 998 5 Head.Manual

Manual Mode

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Structure name

Structures are used to enable data exchange between the PLC and HMI. For this purpose, the following variable names are used in the HMI and PLC. The associated structure names in the

HMI are also listed in the table.

Drive

1st Altivar 71

2nd Altivar 71

1st Lexium 05

2nd Lexium 05

3rd Lexium 05

4th Lexium 05

5th Lexium 05

1st Altivar 31

2nd Altivar 31

3rd Altivar 31

4th Altivar 31

5th Altivar 31

6th Altivar 31

PLC

Drive_01.

Drive_02.

DriveLXM[1].

DriveLXM[2].

DriveLXM[3].

DriveLXM[4].

DriveLXM[5].

Drive31_01.

Drive31_02.

Drive31_03.

Drive31_04.

Drive31_05.

Drive31_06.

HMI

Drive_01.

Drive_02.

Drive_03.

Drive_04.

Drive_05.

Drive_06.

Drive_07.

Drive_08.

Drive_09.

Drive_10.

Drive_11.

Drive_12.

Drive_13.

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General

Addressing

Various hardware addresses, as well as flags and flag words, are used in the PLC example program. An overview of these appears below to facilitate orientation.

The addresses of individual storage locations are set using special character strings.

The addresses comprise a combination of the percentage sign “%”, an area identifier, a data type and one or more natural numbers, which can be separated by blank spaces.

The following area identifiers are supported:

- Input

- Output

M - Flag

The following data types are supported:

X - Individual bit

None - Individual bit

- Byte (8 bits)

- Word (16 bits)

- Double word (32 bits) D

Examples:

%QX7.5

%Q7.5

- Output bit 7.5

- 7

%IW215 - Input word 215

%MD48 ivar AT %IW0: WORD;

- Double-word flag in memory location 48

- Variable declaration with indication of address

The program’s current control configuration will determine whether or not an address is valid.

Defined memory areas may overlap, e.g., memory address %QW80 is the same as

%QB160,and %QD40

Note:

Boolean values are written as bytes if an individual bit address is not explicitly specified.

Example: A change in the value of varbool1 AT %QW0 affects the area between

QX0.0 and QX0.7.

Note:

If Online Change is used, memory addresses may change. Please remember this when using pointers to addresses.

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HMI

Introduction

This application includes a Magelis XBT-GT 2330 type operator and display terminal, which communicates with the Controller Inside card and the Altivar 71 via the Modbus-RTU protocol.

The Vijeo Designer software is used to program and configure the terminal. The steps to be taken in order to create and download a program are described on the following pages.

The HMI is set up as follows:

1. Vijeo Designer function overview

2. Create new project (specify platform, hardware, communication)

4. Set up new variables

6. Show CANopen status

7. Check the project and download it

Vijeo

Designer

Layout

The Vijeo Designer environment consists of the following elements:

1 Navigator

2 Info-display

3 Inspector

5 Feedback-Zone

6 Toolbox

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Creating a

New Project

When Vijeo Designer starts up, a selection window appears.

Select Create new Project and

Next.

Enter a project name for the application and a comment (if necessary).

Next select the target device used and enter a logical name.

Example project:

• Target Name: Hmi2ci

• Target Type: XBTGT 2000

Series

• XBTG Model: XBT-GT2330

Continued on next page

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Creating a

New Project

Contd.

In order to use the device's

Ethernet interface, you need to enter the IP address, subnet mask and, if applicable, the gateway.

In order to be able to exchange data with other devices, the

Magelis HMI requires a communication driver. To set one up, click the Add button.

Start by selecting Schneider

Electric Industries SAS from the list under Manufacturer.

Then select the Modbus (RTU) driver and Modbus Equipment

(under Equipment) for communication with the

Controller Inside PLC.

Once you have selected a communication driver, you can complete the creation of the new project by clicking the OK button followed by Finish.

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Communication

Settings

Once you have created the project, Vijeo Designer will display the workspace described above with an empty edit screen on the right-hand side.

If the project is to be downloaded to the HMI via

Ethernet, the settings can be modified here. To do this, rightclick with the mouse on the target in the Navigator and select Download in the

Property Inspector. In order that the project can be transferred to the Magelis HMI, you will need to select Ethernet as well as the IP address and the subnet mask.

The interface parameters must be declared to the Modbus driver for communication with the PLC.

Right-click with the mouse on

ModbusRTU01 and select

Configuration….

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Continued on next page

Schneider Electric 39

Communication

Settings

Contd.

The setting entered here must be the same as in the PLC

(Altivar 71).

COM Port: COM1

Serial interface: RS485

Transmission Speed: 19200

8 data bits, 1 stop bit, even

For the equipment

configuration, right-click on

ModbusEquipment01 and select Configuration….

Enter the Modbus address of the Controller Inside PLC.

Right-click and select Rename to change the name.

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Continued on next page

Schneider Electric 40

Creating

Variables

To create new variables in the

Navigator, select the Variable tab at the bottom of the screen.

Right-click with the mouse on the project name to access a popup menu and select "New

Variable

Æ New .

To create variables, the following information must be entered:

• Variable Name

• Data Type

• Data Source (External)

• Address in the PLC

All PLC flags (in this case, 2000) can be addressed. Types that can be defined include flags

(%M), words (%MW), double words (%MD) and floating points

(%MF). All data to be displayed on the Viewer must be transferred to one of these types.

The variables created are displayed in the Navigator, along with their names and addresses.

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Creating

Screens

The process for creating animations on screens will now be described using a numerical example. The functions are similar for other animation elements.

Selection from the menu bar.

Various icons and elements are available in the menu bar and the toolbox.

First, fix the size and position of the display on the panel.

3 Defining the Properties of the

Display

You can define:

• Name

• Data Type

• Variable

• Display style

• Font style and size

The variable to be used for the animation can be input manually or selected using the bulb icon.

If the varaible is undefined it is highlighted with red text.

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Zusätzliche Funktionen, z.B. die

Invertierung des Wertes, können

über das Taschenrechner-

Symbol erzeugt werden.

The display opposite shows the completed screen in which the separate properties for animation and actions appear.

Property Inspector

Each animation element on the screen has its own Property

Inspector (right-click with the mouse) via which all settings associated with the element can be viewed and modified.

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Showing

CANopen

Status

In the PLC, the status of each

CANopen node is available as a number from 0 to 7.

However, this needs to be displayed as text on the HMI.

An application script is used for this purpose. Right-click to create a new script or change the name of a script.

The process starts with the declaration of the variable and the reading of the CANopen status.

Then the number is converted into the text you will see on the display.

Finally, the data is written to the output variable (type string).

The item appears on the screen in text format (15 characters in length) (the entry is the above output variable).

The output text will then appear during operation.

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Downloading

Project

Before being downloaded to the graphic HMI, the project must first be analyzed and validated.

To do this, select:

Build->Validate All

The results are listed in the

Feedback Zone.

Build All performs a similar function.

Select Download All under

Build to transfer the application to the connected Magelis terminal. The configured communication route (Ethernet) will be used.

4 Defining the Ethernet IP Address

If you have chosen the Ethernet connection to download your project and you have never loaded a project into the HMI before, you must define the IP address of the

HMI.

To do this, touch the screen of the HMI in the top left corner whilst turning it on.

This will start the HMI Runtime and allow you to set up the address in the Offline tab.

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 45

Application

Overview

The example application features a number of displays that can be selected by the user.

The structure is mapped on the welcome screen. This is also where the operating mode can be selected. There are no logic configuration settings in the PLC for automatic mode.

All drives can run in manual mode, controlled directly via the

Viewer. To do this, you must switch to the relevant screen.

The screen opposite shows three Altivar 31 drives. For each one, there is a button for starting/stopping and selecting the direction of rotation. It is also possible to select the setpoint speed for the drives in the Set field.

The status message and actual speed display, along with the error code, act as feedback.

The header on subsequent screens is identical and provides information about the status of the machine.

ATV71 drives are controlled in a similar way to ATV31 drives.

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 46

Application

Overview

Contd.

The corresponding screen for the first two Lexium 05 servo drives appears opposite. Two modes (speed and position) are available for selection.

If a CANopen bus node is faulty, this will be indicated in the header (Bus button). Go to the bus screen to identify the node.

The same applies in the event of an error message pending for a drive. General message via header. Detailed information on alarm screen.

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 47

PLC

Introduction

The PLC chapter describes the steps required for the initialization and configuration and the source program required to fulfill the functions.

Pre-

Before carrying out the steps described below, you must ensure that:

conditions

• The CoDeSys PS1131 programming tool is installed on your PC

• The TemplateProject.pro PLC project is available in the default directory that has been set up (C:\Program Files\Schneider Electric\PS1131\CoDeSys

Configuration

V2.3\Targets\ControllerInside\Examples\)

• The Controller Inside card is connected to the power supply

• The PLC and the PC are linked to one another via the PC <> Controller Inside programming cable (VW3A8106)

To simplify programming, we are going to use the TemplateProject.pro startup project recommended and supplied with the PS1131 tool. It already contains the basic functions that might need to be enabled or extended. Reconfiguration is beyond the scope of this description.

Setting up the PLC is done as follows:

General

• Create new program

• Add program setting and LED control to recommended startup project template.pro

• Download program to PLC and start up

• Create data structure

• Create variables

CANopen

• Link CANopen master

• Integrate CANopen EDS files

• Link Altivar 71 for CANopen

• CANopen expansion in main program

• Create function block (ST)

• Create function block (ST) (example ATV71)

• Create program block (FBD) for ATV71

• Link Lexium05 for CANopen

• Special features in function block (ST) for LXM05

• Create program block (FBD) for LXM05

• Link Altivar 31 for CANopen

• Special features in function block (ST) for ATV31

• Create program block (FBD) for ATV31

• Link Advantys STB I/O island for CANopen

Internal communication

• Altivar 71 for internal data exchange

• Use plug-in graphic display terminal

• Create viewer within CoDeSys

External HMI

• Data exchange with an external HMI

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 48

Creating a

New Program

To create a new application, once the PS1131-CoDeSys software has started up, select:

File->New

Select Controller Inside as the target system in the next window that appears.

You can make further settings here. We are going to accept the default settings.

Accept the proposed start block.

Note:

Do not delete or rename the

PLC_PRG program block unless you are not using a task configuration. PLC_PRG is usually the main program in a single-task program.

Confirm your settings to complete the programming setup for PS1131-CoDeSys.

You now need to set up various general programs.

Reconfiguration is beyond the scope of this description. We are, therefore, going to use the startup project

TemplateProject.pro recommended and supplied with PS1131-CoDeSys.

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 49

Expanding the

Startup Project

TemplateProj ect.pro

Following installation of

PS1131-CoDeSys, the startup project will be available under:

<Installation path>\Targets

\ControllerInside\Examples

\TemplateProject.pro

Once the PS1131-CoDeSys software has started up, select:

File->Open….

……

…to select and confirm the startup project.

If the version of the library has changed, a corresponding message will appear on the screen. Click OK to confirm.

The project is write-protected.

However, you can save it under a new name.

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 50

Once you have clicked OK, the startup project will open and appear on the screen.

Select

File->Save as..

to save the project with a new name.

Select Library Manager on the Resources tab in the

Object Organizer.

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 51

The libraries listed opposite are integrated in

PS1131-CoDeSys.

This is a simple program to make LED 1.4 on the front panel of the ATV71 flash.

Different LED flashing frequencies are possible to indicate different states.

This setting is made in the

Application_Common program, which is called from the Application_Main program.

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 52

Download &

Start Up

For the purpose of downloading, the PC must be connected to the Controller

Inside card. Connection cable

VW3A8106 is used for this purpose.

Select:

Online->Communication

Parameters

in the menu bar.

The current data appears. If no data appears, you can add a new channel by clicking New.

You can change the name of the new channel.

Click OK to confirm.

The new channel appears.

Click OK to close the window.

The connection with the PLC is established by selecting:

Online -> Login.

The project must be free from errors.

When the connection is established, the software will check that the programs on the

PC and PLC are identical.

If they are not, it will prompt you to download the program to the PLC.

Select Yes to start the download.

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 53

Once the download is complete, the program must be started.

Do this by selecting

Online -> Run.

Information appears in the status bar in the bottom righthand corner of PS1131.

You can also view the state of the Controller Inside card in the preconfigured PS1131-

CoDeSys viewer.

To do this, open the

VIZU_TASK_TIMING window via the Visualizations tab in the Object Organizer.

Create

Boot-Project

Use the function

Create boot project

To copy the program into flash

. memory so that the PLC automatically loads the project on start-up.

Note:

Under Project->Options in the category Source download:

If you activate the radio button

Implicit on create boot project

The project is automatically downloaded to the PLC when the function Create boot

project is finished.

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 54

The PLC must be stopped in order to perform the download.

Select Yes.

A message informs you that the project is loading

When finished (and if required) you must start the PLC again with

Online->Run

Creating the

Data

Structure

Select the Data types tab in the Object Organizer.

Data structures are used to group common data types.

Click with the right mouse button and select:

Add Object….

Give the data type a name.

The ATV_data data structure is used to link the Altivar function blocks to the I/O communication addresses or data.

The following data structures are used:

• ATV_data

• ATV_HMI

• LXM_data

• LXM_HMI

I/O data for Altivar FBs

Data exchange with HMI for Altivar

I/O data for Lexium FBs

Data exchange with HMI for Lexium

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 55

Creating

Variables

Variables are declared either in locally in the declaration section of a block or in global variable lists.

Note:

A local variable can be defined with the same name as a global variable. Within a block, the variable defined locally always takes priority. You cannot give two globally defined variables the same name (for example, a compilation error will occur if a variable called "var1" both appears in a global variable list and has been declared in the control configuration).

In respect of the names of variables, do not include blank spaces or (in German) umlauts. Variables can only be declared once and must not be identical with keywords.

The names of variables are not case-sensitive (i.e. VAR1, Var1 and var1 will be one and the same variable). In names, underscores are significant, e.g., "A_BCD" and

"AB_CD" will be two different variables. Do not use more than one underscore in succession at the start of a name or within a name. Variables can be used wherever permitted by the declared type.

You can call up a list of available variables via the input assistant.

• "Normal" variables or variables defined in the overall project can be declared as global variables.

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In the declaration section of a block, all variables used only in that block are declared. These might be:

• Input or output variables variables

• Local variables

• Remanent variables and

• Constants

The declaration syntax is based on the IEC 61131-3 standard.

Please note that it is possible to use object templates during the initial stages of declaration when creating a new ‘Global variables’, ‘File type’,

‘Function’, ‘Function block’ or

‘Program’ object.

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Linking a

CANopen

Master

Select PLC Configuration on the Resources tab in the

Object Organizer.

The PLC configuration appears on the right-hand side of the window.

Select:

Insert->Append CanMaster to link a CANopen master or right-click on Controller Inside.

When you select CanMaster, a properties dialog box will appear on the right-hand side.

You can accept the Base

parameter default settings.

The CAN parameters tab displays the parameters.

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It is here that global settings and monitoring parameters for the CANopen bus are defined.

Select the required baud rate for transmission on the bus.

We are using the following settings for this project:

• Baud rate: 500,000 bps startup

• Support DSP …

The heartbeat is set in the

Application_CanOpen program.

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Integrating the CANopen

EDS Files

In order that devices

(subelements) can be appended to the CANopen master, they must be declared in PS1131 (CoDeSys). The device-specific EDS files are used for this purpose.

Select Project -> Options to open the Options dialog box and check the target directory.

The target directory appears in the Directories category under

Target and Configuration

files.

If you did not change any of the default settings during installation, the target directory will be:

C:\Program Files

\Schneider Electric\PS1131

\CoDeSys V2.3\Targets

\ControllerInside\PLC_Config\

Copy the EDS files for

• Altivar

• Lexium 05 and to this directory.

Note:

The EDS files for the VSDs and servos appear on the CDs supplied with the relevant products.

For Advantys STB, these files are created with the Advantys

Configuration Software.

You will need to restart

PS1131 (CoDeSys) once the process is complete!

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Linking

Altivar 71 for

CANopen

Once you have copied the EDS file, right-click with the mouse on the CanMaster and select the ATV71 subelement.

This function can also be selected in the menu under

Insert->Append Subelement.

Once you have selected the

ATV71, a properties dialog box will appear on the right-hand side.

On the Base parameters tab, enter %IB160 as the input address and %QB160 as the output address.

(See the list in the

Communication chapter for more information.)

Note:

A start address of %QW80 is the same as one of %QB160 and %QD40.

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The CANopen address 2 is entered in the Node ID field on the CAN parameters tab.

Nodeguarding is unchecked;

Heartbeat and Emergency are checked.

The Heartbeat producer time is

100 ms.

On the Receive PDO-Mapping tab (Drive <- PLC), the default setting for the first PDO is accepted.

The second and third PDOs remain deactivated.

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On the Send PDO-Mapping tab (drive -> PLC), the Error

Code entry is added to the default setting for the first PDO.

This is done by selecting the

Error Code entry in the lefthand column and clicking >> to add it to the right-hand column.

The second and third PDOs remain deactivated.

Once added, the Error Code appears as follows.

The address assignment appears in the PLC

configuration.

The following addresses are

reserved for the drive but are not used (PDOs are deactivated):

%QW82 ... %QW85 and

%IW83 ... %IW86

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CANopen

Expansion in the Main

Program

The startup project makes provision for the integration of

CANopen.

Select:

Application_CanOpen();

to call up the PLC_PRG program.

Call up the CANopen block in the Application_CanOpen program.

CanOpen(heartbeat_ms:=300)

When the PLC starts up, the

ControllerInside_Start program is called once and the connected CANopen nodes are declared.

The node with address 2 is added here.

CanOpenAddSlave(CanOpen

NodeID:= 2);

Subsequently, all node addresses (2…14) will be entered here.

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Creating a function block

Function block

Select the Blocks tab in the

Object Organizer.

To ensure clarity, a separate folder is created for the FBs.

Click with the right mouse button on the existing folder and select New Folder.

Click with the right mouse button again to rename the new folder.

In this case we are going to use the FBs subdirectory.

To add a function block, click with the right mouse button and select Add Object....

Select Function Block under

Type of POU in the next window. You also need to define the POU name and language. In this case, these are ATV71 and ST respectively.

The following function blocks are used:

• ATV71

• ATV31

• LXM05

• from_ATV

• to_ATV

• from_LXM

• to_LXM

FB to control Altivar 71

FB to control Altivar 31

FB to control Lexium 05

Status/actual value from Altivar to FB

Commands/setpoints to Altivar

Status/actual value from Lexium 05 to FB

Commands/setpoint to Lexium 05

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Creating a function block (ST)

An example of how to create a function block for the Altivar 71 appears below.

Once the FB has been created, the inputs and outputs are defined.

The internal variables required will also need to be configured.

This is what the information will actually look like to the user.

In the Altivar 71, the relationships between the state transitions are mapped in the

state machine.

The operating states are controlled by the user with the

control word and monitored with the status word.

An operating state chart appears opposite.

The ATV71 documentation

(Communication parameters) contains a detailed description of the individual operating states.

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The operating states are indicated in bits 0 to 6 of the status word.

The status is read via

CANopen and written to the block input.

The status is read first in the

FB.

The VSD is controlled by means of bits 0 to 3 and bit 7 in the control word.

The commands are available at the block output and are transferred to the VSD via

CANopen.

The corresponding commands are generated in the FB on the basis of the control settings.

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Creating a

Program

Block (FBD) for ATV71

Based on the input, the setpoint speed (i.e. the frequency) for the ATV, along with the status information is set and moved to the block outputs.

In Your Application Folder, click with the right mouse button and select:

Add Object... to create a program block.

Select Program under Type

of POU in the next window.

You also need to define the

POU name and language.

In this case, these are

Control_ATV71 and FBD respectively.

In order for the function block to be executed, it must be called by a program block.

In this case, it is called by the main program:

Application_Main.

The entry can be made directly or via F2 (input assistant).

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Once the program block has been added, you need to add a block placeholder. Do this by right-clicking with the right mouse button and selecting

Block.

Then use F2 to select the required block. In this case: the from_ATV function block created previously.

Now use the right mouse button to connect another

block at the FB’s output pin.

Use F2 to specify.

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And select FB ATV71.

Add another block.

And use F2

to select FB to_ATV.

Each FB instance has an associated designator

(instance name)

As with variables, instances are declared locally or globally by specifying the FB name as the designator type.

Select the designator (???) for the FB and enter the name

No_02_from. Once you have confirmed the name, this window will appear. Click OK to exit. The entry will be made in the declaration section automatically.

Now do the same for the FB

ATV71 and

and FB to_ATV instances.

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Instanced FBs.

Now enter the input addresses. For information about addresses, see also

Communication.

You can also connect variables here.

You also need to connect the inputs and outputs to FB

ATV71.

In this example, the variables are being connected by the

HMI. Thus, the drive is controlled directly by the HMI.

The variable is a structure and is assigned an address in the declaration section.

This is what the interface with the actual application will eventually look like.

To connect the output address to the final block, right-click with the mouse and select

Assign.

And then enter the output addresses. For information about addresses, see also

Communication.

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Linking

Lexium05 for

CANopen

Right-click with the mouse on

CanMaster and select

Lexium05 from the Append

Subelement list.

Alternatively, this function can be accessed via the menu by selecting

Insert -> Append

Subelement.

Once you have selected the

Lexium05, a properties dialog box will appear on the righthand side.

On opening the Base

parameters tab you are offered some default addresses. These must be changed.

Enter %IB182 as the input address and %QB182 as the output address for the first

Lexium05.

(See the list in the

Communication chapter for more information.)

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Enter the CANopen address

3 in the Node ID field on the

CAN parameters tab for the first Lexium05. Addresses 4 to

7 are used for the other servos.

Nodeguarding is unchecked;

Heartbeat and Emergency are checked.

The Heartbeat producer time is 100 ms.

On the Receive PDO-

Mapping tab (Drive <- PLC), the default setting for the first three PDOs is accepted.

The setting for the fourth

PDO is expanded.

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Select the target velocity and

target position setpoints on the left-hand side (one after the other) and use >> to transfer them to the right-hand column.

This uses up the maximum number of 8 bytes (2 doublewords).

Note:

The second and third PDOs are not used, as otherwise the control word would be transferred more than once.

This could result in mixups.

A fifth PDO is required for the

Profile velocity.

To add this PDO, click on

Insert PDO.

Now use >> to insert the

Profile velocity under this

PDO.

Note:

The profile velocity is not required in this application. It is merely intended to illustrate a new PDO.

The fourth PDO is deactivated by default.

You can activate it by selecting it in the right-hand field and clicking on

Properties to open the

Properties window.

Change

0x80000500 to

0x00000500 or 0x500.

If the most significant bit = 1, the PDO is deactivated. A 0 means it is activated.

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You will need to change the proposed COB-ID for the fifth

PDO.

According to the CANopen specification, the range 680 ...

6FF is reserved for PDOs > 4.

Change 510 to 0x680, plus

NodeID.

The following should now be visible in the window.

The process for dealing with the Send PDO-Mapping tab

(Drive -> PLC) is extremely similar.

Leave the first three PDOs exactly as they are.

Expand the fourth PDO by adding Velocity actual value and Position actual value.

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The fourth PDO is deactivated by default.

Change

0x80000500 to

0x480.

You also need to enter an

Inhibit Time of 10 ms to prevent the bus from becoming overloaded.

You will need to enter the value 100, because the multiplication factor is 100µs

(100 x 100 µs = 10ms).

You can also change the default start parameters using the Service Data Objects tab. Do this by entering the new value in the Value column. In this example, the

Profile velocity value has been changed from 60 to

3000.

The following should now be visible in the PLC

Configuration window.

This screenshot lists the start address and COB ID for the individual parameters.

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Connect the other four

Lexium05 servo drives in the same way.

Special features in function block (ST) for

LXM05

When the PLC starts up, the

ControllerInside_Start

program is called once and the connected CANopen nodes are declared.

You should add the nodes with the addresses 3 to 7 here.

Compared with the VSDs, the

Lexium05 offers a greater range of operating modes.

This FB is used to implement the velocity and positioning modes.

For precise details of operating modes, please refer to the Lexium05 documentation.

Once the FB has been created, the first thing you need to do is to define the

inputs and outputs.

Other essential internal variables will also need to be configured.

This is what the LXM05 FB will actually look like to the user.

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The relationships between the state transitions are mapped in the state machine.

The operating states are influenced by the user with the control word (DCOMcontrol) and monitored with the status word (DCOMstatus).

Below is a chart showing the operating states.

The operating state is represented by bits 0, 1, 2, 3,

5 and 6.

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The operating state is read via

CANopen and written to the block input.

The status is detected at the start of the FB.

The servo drive is controlled via bits 0, 1, 2, 3, and 7.

The corresponding control settings are generated on the basis of the commands at the block input. The block output then transmits these to the servo drive via CANopen.

The same applies to the setpoints. Status information is also made available at the block output.

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As certain data cannot be made available via the PDOs, it is read in/written via SDOs.

Execution is handled by the

Control_SDOs program block. The individual servo drives and SDOs are processed one after the other, as only one SDO may be active at any one time.

First of all, the operating mode entered in the servo drive is read out.

If the operating mode does

not match the mode specified by the operator/program, this information is forwarded to the

FB by means of the

xxx.ModeOK=0 structure element.

The operating state can only be changed in State 6 = run.

The FB uses the structure element referred to above to start the servo drive, but

without setpoints.

As soon as the state is achieved, the current operating mode is transmitted.

The error word is also read out and forwarded to the FB.

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Creating a

Program

Block (FBD) for LXM05

The Lexium05 servo drives are controlled by means of the Control_LXM05 program block.

The procedure for creating and parameterizing the program block is exactly the same as for the Altivar 71 and 31 drives, so please refer to the relevant description and proceed accordingly.

First, the CANopen status of each node is copied to the relevant structure. Then a check is performed to ensure that the status is Operational

(=OK; Value=5).

Then, the integrated FBs for a Lexium05 servo drive are displayed.

For information about input and output addresses, see Communication.

In this example, the HMI variables are connected directly to the FB so that the servo drive can be controlled by the HMI. This is what the interface with the actual application will eventually look like.

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Linking

Altivar 31 for

CANopen

Right-click with the mouse on

CanMaster and select

ATV31_V1.2 from the Append

Subelement list.

Alternatively, this function can be accessed via the menu by selecting

Insert -> Append

Subelement.

Once you have selected the

Altivar 31, a properties dialog box will appear on the righthand side.

On the Base parameters tab, enter %IB340 as the input address and %QB340 as the output address for the first

ATV31.

(See the list in the

Communication chapter for more information.)

Enter the CANopen address

8 in the Node ID field on the

CAN parameters tab for the first ATC31. Addresses 9 to

13 are used for the other drives.

Nodeguarding is unchecked;

Heartbeat is set to 100 ms and Emergency is checked.

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On the Receive PDO-

Mapping tab (Drive <- PLC), st the 1 and 6 th

PDOs are displayed.

The first PDO is activated by default.

You can deactivate it by selecting it in the right-hand field and clicking on

Properties to open the

Properties window.

Change:

0x200 to 0x80000200.

The most significant bit is used to activate (=0) or deactivate (=1) a PDO.

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The sixth PDO is deactivated by default.

You can activate it by selecting it in the right-hand field and clicking on

Properties to open the

Properties window.

According to the CANopen specification, the range 680 ...

6FF is reserved for PDOs > 4.

Change

0x80000000

0x 0x680 + NodeID.

The following should now be displayed.

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The process for dealing with the Send PDO-Mapping tab

(Drive->PLC) is very similar.

Deactivate the first PDO, changing

0x180

0x80000180

Expand the sixth PDO by adding the Error code entry.

Do this by selecting it in the left-hand window and then appending it by means of >>.

Thus, the following entries should now appear under the sixth PDO.

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The sixth PDO is deactivated by default.

Change

0x80000000

0x690 + NodeID.

You also need to enter an

Inhibit Time to prevent the bus from becoming overloaded.

Enter a value of 50.

The following should now be visible in the PLC

Configuration window.

This screenshot lists the start address and COB ID for the individual parameters.

Connect the other five

Altivar 31 drives in the same way.

When the PLC starts up, the

ControllerInside_Start

program is called once and the connected CANopen nodes are declared.

You should add the nodes with the addresses 8 to 13 here.

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Special features in function block (ST) for

ATV31

The FB for the Altivar 31 differs only slightly from the Altivar 71

FB.

The status and control settings are adapted. However, externally there is no discernible difference.

First of all, define the FB inputs and outputs along with the other necessary variables.

This is what the function block will actually look like to the user.

Below is a chart showing the operating states.

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The status is scanned by the

VSD via CANopen and connected to the block input.

The status word is monitored in the FB for the purpose of subsequent execution.

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The control word is generated on the basis of the commands.

The block output then forwards it to the VSD via CANopen.

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Creating a

Program

Block (FBD) for ATV31

Create a program block with the block name.

Control_ATV31 in the Your

Application Folder.

Once the program block has been added, you need to add a block placeholder. Do this by right-clicking with the right mouse button and selecting

Block.

Press F2 to access the input assistant.

Select the to_ATV function block here.

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Right-click with the mouse to place another block at the input pin.

Again, use F2 to access the input assistant.

And specify FB ATV31.

Now place another block.

And select the from_ATV FB.

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Select the instance name (the

??? above the FB) for the FB and enter the instance name

No_01_from.

Once you have confirmed the name, this window will appear. Click OK to exit.

The entry will be made in the declaration section automatically.

Now do the same for the FB

ATV31 and

and FB to_ATV instances.

To connect the output address to the final block, right-click with the mouse and select

Assign.

You will also need to connect the input addresses and variables for the HMI.

The figure below shows the first ATV31 fully configured.

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Linking

Advantys

STB I/O island for

CANopen

Copy the EDS file created using the Advantys

Configuration Software to the configuration file directory.

Altivar 71 for internal data exchange

The Control_ATV71_int program block is responsible for controlling the ATV71 internally.

As with the other drives, the operating state chart is absolutely fundamental to control.

In contrast to the CANopen nodes, the status/actual value and command/setpoint are not transmitted via the bus, but as an internal communication. The special PS1131 software blocks are used for this purpose. As its name suggests, the

MANDATORY_AT_EACH_CYCLE

block, which manages data exchange, is absolutely essential.

The DrivecomStateGet block is used to obtain the VSD's status.

Depending on the status, the corresponding variable is set from 1.

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Depending on the HMI setting

(and later the application setting), the corresponding blocks for controlling the VSD are called.

The following blocks are used:

• DriveRunForward()

• DriveRunReverse()

• DriveStopRamp()

• DriveStopQuick()

• DriveStopFreeWheel()

• DriveFaultReset()

For the setpoint and actual value:

• DriveTargetVelocitySet()

• DriveActualVelocityGet()

For reading out the error code:

• DriveParameterRead1()

As part of this process, the content of address 16#219E is scanned.

A description of the blocks is available in the online help.

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Using the plug-in graphic display terminal

The drive has 50 parameters which are also referred to as display parameters. These can be viewed on the graphic display terminal. The display parameters function as an exchange table between the display and Controller Inside

PLC. The variable names are

Display_Oxx (xx=1...50) and are listed in the PLC configuration under

Local Drive -> Display

Parameters.

The PLC reads and writes the display parameters automatically, assuming that they have been configured.

Writing of the parameters takes place in conjunction with the

AppliLock parameter element.

When the application is started, the ControllerInside_Start program block is called via

PLC_PRG -> Drive_Start.

Steps 1 to 5 are executed.

The second step defines whether a variable is visible and whether it can be modified.

The limits and display format are also defined.

As part of the third step, the name of the display that is to appear under Point 1.14 and in the header is parameterized.

Enter Display ATV71 here.

The display can be found in the menu under 1. Drive Menu

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and

1.14 Display ATV71.

The display texts are defined as part of the fourth step.

Study the example.

A counter is started in the PLC via Start Counter and the value (0 to10000) is displayed here under Counter.

Also, the current speed, in

RPM, is displayed next to

Speed actual.

The logic is programmed in the

Display_Control program block.

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Creating viewer within

CoDeSys

The PS1131 (CoDeSys) programming software features an integrated viewer. If the PLC has been programmed with CoDeSys, no additional tools are required to visualize the PLC data, which means you already have everything you need for monitoring and operation. The programming system contains an integrated viewer/editor, which enables users who are involved in application development to generate display screens without having to switch interfaces.

A visualization object is a project block that is managed via the "Visualizations" tab. It contains an array of visualization elements and can have certain properties assigned to it as the global object. One or more visualization objects can be created within the context of a project and they can even be linked to one another.

To create a visualization object in the Object Organizer.

Select the Visualizations folder followed by Add

Object...

This will open the dialog box for new visualization objects, where you should enter the name of the new visualization object.

A visualization element is a graphical element, which is used as part of the process of creating a visualization object.

The potential elements are made available via a menu bar. Each element is configured separately.

Here you can define the normal color and the alarm color in order to facilitate a subsequent change in color.

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The change in color is achieved by entering the variables. Press F2 to access the input assistant.

In order for analog values to be displayed, enter the %s placeholder in the text content field.

When defining the variables, enter the variable to be displayed in the Textdisplay field. Use F2.

In order to be able to modify the variable within the context of visualization (as well as viewing it), you must select

Text input of the variable

here.

Alternatively, binary variables can also be switched.

This example depicts animated visualization

ATV71_int. You will find that the startup project already contains two instances of visualization. The first of these

(VIZU_TASK_TIMING) indicates the cycle time states. The other one

(VIZU_CANOPEN) indicates the state of the CANopen bus.

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Data exchange with an external HMI

There are 2000 words available for data exchange via Modbus.

It is important to note that the Modbus port on the Altivar 71 has two Modbus addresses. One is used to access the Altivar71 and the other to access the

Controller Inside card.

The addresses can be entered via the display or via PowerSuite.

For a list of variables used, see Communication. This list also provides details of the %MW addresses and content.

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Devices

Introduction

This chapter describes the steps required to initialize and configure the devices to attain the described system function.

General

Descriptions are provided in respect of the following devices:

• I/O Platform - Advantys STB

The Advantys Configuration Software is required to load the configuration onto the island and also to generate the EDS file for the PLC.

• Altivar31, Altivar 71 and Lexium05

The Altivar VSD settings can also be entered or modified via the front panel.

You also have the option of using the PowerSuite software. The advantages of using PowerSuite are that you

Can save the data on your PC and copy it as you wish

Can print out the documentation and

Can be assisted in optimizing the parameters online.

I/O Platform - Advantys STB

Introduction

This chapter describes how the Advantys I/O platform is configured using the Advantys

Configuration Software.

Proceed as follows:

• Create a new project (workspace)

• Configure the hardware (network interface, power supply and I/O modules)

• Configure CANopen extension communication (baud rate)

• Download configuration to island

• Generate EDS file

Creating a

New Project

(Workspace)

Once you have installed and started the Advantys

Configuration Software, you will be presented with a choice between Advantys STB

Advantys FTB, FTM, and OTB.

Select the first of these options.

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Then select the language.

After starting the Advantys configuration software, you must create a new workspace.

To do this, specify the path, the workspace name and the

name of the first island.

An empty top-hat rail will be displayed.

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Configuring the hardware

Then select the network interface for CANopen.

STB NCO 2212

Next, select the power supply

STB PDT 3100,

the digital input cards used

STB DDI 3610 (2x),

STB DDI 3420 (1x),

the digital output cards

STB DDO 3600 (2x)

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and finally the terminating resistor

STB XMP 1100.

The following should now be displayed.

Double-click on the CANopen header to display the

Properties page.

Here you can enter a size for your exchange table on the

Parameters tab. Our example does not involve the use of an exchange table so the value is set to 0.

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Configuring internal

CANopen bus communication

(baud rate)

The internal baud rate can be set via the menu bar by selecting Baud Rate Tuning….

The rate used is 500 kbps.

Note:

Set the parameter for the transfer rate between NIM and

PLC with the two rotary switches on the front of the

NIM. See Communication for further details.

Downloading configuration to island

Parameterization is now complete. Now you need to generate the STB project. To do this select Island -> Build from the menu bar.

Unless you have already saved the changes, you should do this now by clicking

OK.

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The bottom section provides a log of the individual actions.

The words

... completed successfully

should now be visible here.

To find out how the individual inputs and outputs fit into the data exchange process, you can call the I/O Image

Overview.

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You must ensure that the

Fieldbus Image tab is selected.

Select an input or output word element here to display its content in the intermediate window.

Note:

Alternatively, this information can also be printed out. To do this, select Fieldbus Image.

Before you can load the configuration, you must first define the appropriate settings under Online -> Connection

Settings.

As the serial cable is being used, select the following:

Serial

Modbus Node ID: 1

Establish a connection via

Online -> Connect. The NIM and PC configuration versions will now be compared. If they do not match, this window

(see right) will appear. Select

Download.

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Then respond to the subsequent messages with

Yes

And

OK.

Generating an EDS file

The text shown on the right should now appear in the bottom window.

Then, you can terminate the connection.

To generate the EDS file, select

File -> Export STB1….

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You can enter the directory and file name here.

Copy this file from …

to the PS1131 (CoDeSys) directory.

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PowerSuite

Introduction

PowerSuite is a tool for configuring and supervising motor controllers. Using

Powersuite, the user can define machines, their configuration and the communications parameters.

Powersuite offers the advantage that you can

• Save data to your hard drive and duplicate it

• Print documentation for your project

• Optimise your parameters online

The version described here can be used for all controllers used in this configuration

(ATV31,ATV71 and LXM05). Each of the mentioned products also has its own ‚light‘ version, but these versions can only be used for the particular product they accompany.

The following describes the basic setup of PowerSuite:

General

Setup

After starting PowerSuite you see the display on the right.

Select

Display->configuration so that the configuration is added to the project browser list.

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The project browser aids you in managing the machines.

Connections

You can view the communications setup and

Modify it.

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Select the COM interface you wish to use

When you select the connection in the project browser, the description appears in the window on the right.

Powersuite allows you to create folders for your drives.

To do this click on the main folder:

My Devices

Then select:

File->New->Folder

In the dialog that opens, input the Folder name. You can also add a Folder image and a

Description.

Exit with OK to add the folder to the project browser

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If you select your folder in the project browser your image and description are shown in the window on the right.

Any drive group, including its data, can be exported.

Once PowerSuite is connected to the drive you can used the control panel to operate the drive.

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Altivar 31

Introduction

The settings for the ATV31 variable speed drive can either be made manually using the control panel on the device or by means of the PowerSuite configuration software.

Configuring

ATV31 with

Control

Panel

The ATV31 parameters can also be entered or modified via the control panel on the front of the device. This section describes how to set the drive using this control panel.

The CANopen address and transfer rate are set manually via the control buttons on the device.

First, use the control buttons to select the Communication submenu.

In the Communication menu, the CANopen address must be set in the AdC0 parameter. In the example software provided, the values 8 to 13 have been set aside for the six VSDs.

In the Communication menu, you must also set the transfer rate in the BdC0 parameter to the value 500.0 (kbits).

Alternatively, the address and transfer rate can also be parameterized using the

PowerSuite configuration software.

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PowerSuite with ATV31

The parameters can also be set using the PowerSuite configuration software. This section describes the PowerSuite V2.3 software.

On startup, select the folder

ControllerInside

in the project browser.

(see the general

PowerSuite setup above)

Use the Connect option in the Action menu or the equivalent icon in the tool bar to establish a connection with the device.

Note: Prior to this, you must have plugged in the connection cable from the PC to the ATV.

PowerSuite notes that it is a new device and asks for permission to insert it in the database

Click on Create

Enter a name for the new device.

This name is used for the configuration.

The data is read out from the ATV31.

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Once the transfer is complete, the device data will be displayed.

The parameters can be displayed and modified in list format

or using graphical support. The view shown here can be accessed via:

Settings/Drive

Parameters -> Motor

Characteristics.

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Enter the motor data for the motor.

In the Communication menu, specify the

CANopen address, which for this application will be a number between 8 and 13 and set the transmission

speed to 500 kbit/s.

Now you can save the data.

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Use either

Action->Download

Right mouseclick on the folder name and select download

To download the configuration to the

ATV31

Acknowledge the warning message with

OK.

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Altivar 71

Introduction

The settings for the ATV71 variable speed drives can either be made manually using the device's graphic display terminal or by means of the PowerSuite configuration software.

This section describes how to set the communication parameters manually, via the operator panel. You need to do this in order to enable parameter setting via the software. Then the parameterization option using the PowerSuite software is described.

ATV71

Manual

Setup

(Modbus)

ATV71 Installation Manual:

(A PDF is supplied with the

ATV71 on CD).

The Modbus addresses on the interface are factory-set to OFF, i.e., the interface is inactive.

From the main menu on the

ATV71 operator panel, select:

Æ 1.Drive Menu

Æ 1.9 Communication

Æ Modbus Network

Æ Modbus Address = OFF

Æ Press the selector switch

to confirm.

Æ Turn the selector switch to

MB-ADR = 1 and

Æ Press the selector switch

to confirm.

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PowerSuite

with ATV71

Select the ControllerInside folder in the project browser.

Use:

Action->Connect

to connect to the ATV71.

Make sure you have connected the ATV71 to your PC with the correct cable..

Before the connection is established, you must confirm that you accept the terms of the security warning by pressing ALT+F.

PowerSuite recognises that it is a new device and asks for permission to add it to the database.

Click on Create.

Next, you need to enter the name of the configuration or device.

The data is read out from the ATV71.

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Once the transfer is complete, the device data will be displayed.

This screenshot shows the details of the ATV71 with the Controller Inside card.

You can select the relevant drive in the project browser on the left-hand side.

The parameters can be displayed and modified in list format

OR….

....using graphical support.

The view shown here can be accessed via

Simply Start.

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Enter the motor data for the motor.

Now you can save the data.

In the Communication area, the following distinction is made between the two ATV71 drives:

ATV71 with CI

2x Modbus with

Adr. 1

ATV71 on CANopen

address 2 and baud rate 500

Under Command, you can define the command centre for the drives.

ATV71 with CI:

Programmer inside Card

ATV71 on CANopen:

Reference via CANopen

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Use:

Action->Download

Right mouse click on the

Altivar 71 entry in the browser

To download the configuration to the device

Acknowledge the warning with OK.

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LXM05

Manual

Setup

Lexium 05

After wiring is complete, the drive control parameters must be set.

Parameters can be edited via the integral operating panel

(HMI).

The HMI operates with menus.

The screenshot to the right shows the top level of the menu structure.

In order to gain access via the

PowerSuite software, you will first need to check the Modbus parameters.

Under CoM, make the following settings:

MbAd = 1

Mbbd = 19.2.

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When the drive is supplied with

24V for the first time, or if the factory settings have previously been loaded with the

PARfactorySet

parameter, all the drive functions are still blocked.

You must carry out an initial setup procedure.

To establish the link to the

CANopen master, you will need to make settings in respect of the following:

Method of control

Signal selection position interface

CANopen parameter and

Logic type

On completion the drive should always report “RDY” (ready) in the status display.

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PowerSuite mit LXM05

Besides using the control panel on the device, you can also use Powersuite to configure the Lexium05.

Use

Action->Connect

The icon in the toolbar

to connect to the Lexium05.

Remember to connect the PC to the lexium05 with the correct cable.

Once connected, PowerSuite recognises a new device and asks for confirmation to insert it into its database.

Acknowledge the request with

Create

Enter a new name for the device when requested and exit with OK.

The data is read out from the

Lexium05.

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Once the transfer is complete, the device data will be displayed.

You can select the relevant drive in the project browser on the left-hand side.

The parameters can be displayed in list format or in page view.

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Select:

Simply start->Basic

configuration.

In the field for defining the

control method for the

device, you should select

CANopenDevice.

The servo drive will now be enabled for control via

CANopen.

In order for this change to take effect on the Lexium05, you will need to switch the device off and then back on again.

Initially, the change will be highlighted in red, but the display color will change when you select:

File->Save.

Make the following settings under Communication:

CANopen address: 3...7

CANopen baud rate: 500

Modbus address: 1

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To transfer the settings to the

Lexium05, select:

Configuration ->

Save to EEPROM.

The settings will now be transferred.

To ensure that the settings are saved on the servo drive, you need to confirm the prompt by clicking OK.

PowerSuite confirms the save when completed

You have the option of controlling the servo drive via the PowerSuite software.

To be able to do this, you must first set the Command switch to Active.

Press Alt+F to confirm the security warning.

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Now set the Enable switch to

On.

Potential errors can be acknowledged by clicking

Reset.

Test run can be used to activate the servo drive. Test

stop can be used to stop it again.

Use the buttons Neg and Pos to change the direction of rotation on the drive.

Information about the speed and position is displayed on the bottom right.

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Performance

Scan and

Cycle time

A cycle time of 25 ms was not exceeded with the present configuration including the required application code.

The memory utilization of the PLC specified and used in this document was 40% for system data and 22% for the logic component.

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Appendix

Detailed Component List

Hardware

Components

4.3

4.4

4.5

4.6

4.7

4.8

4.9

Pos.

1.1

1.2

1.3

1.4

1.5

2.1

2.3

2.4

2.6

2.7

2.8

Amt.

Description

3-pin master switch

Compact NSC100 N

3-pin terminal cover

3-pin 12-16 A trip block, TM16D

230 V undervoltage release

Alarm accessories 1 NC contact

Fixed device

Preventa emergency off relay

Part Number

Rev./

Vers.

29003

29321

29035

29407

29450

29371

XPSAF5130

XALK178G

GV2ME16 Motor circuit breaker (9 - 14 A) for

LEX05 and ATV71

Motor circuit breaker (2.5 A) for

ATV31

GV2L07

Auxiliary switch block

24 V DC, 5 A power supply

LC1D18BD

LADN11

ABL7RE2405

2-pin, 2 A back-up fuse for 24 V DC GB2DB07

2.9

2.10

2.11

2.12

2.13

3.1

3.2

3.3

3.6

3.7

3.8

1-button pushbutton housing, empty XALD01

Illuminated button blue, flat ZB5AW363

Auxiliary switch block with lamp holder plus white LED

ZALVB1

Standard auxiliary switch (1xNO)

Standard auxiliary switch (1xNC)

Altivar 71 variable speed drive

Controller Inside card for ATV71

Altivar 31 variable speed drive

Servo motor power cable

Servo motor feedback cable

Magelis operator and display terminal

ZBE101

ZBE102

ATV71H075N4

VW3A3501

V1.1

ATV31H037N4

LXM05AD14N4

BSH0702P31A2A

V1.2

V1.1

VW3M5101R30

VW3M8101R30

XBTGT2330

4.1

4.2

STBNCO2212

STBXMP1100

4.10

4.11

CANopen bus adapter

Bus terminating resistor included with bus adapter

Field power supply

Digital input card, 6 inputs

Digital input card, 4 inputs

Digital output card, 6 outputs

Module base for field power supply

Module base for I/Os, type1

24 V power connector, NIM

(pack size = 10 units)

24 V power connector, PDM

(pack size = 10 units)

I/O connector set

(pack size = 20 units)

STBPDT3100

STBDDI3610

STBDDI3420

STBDDO3600

STBXBA2200

STBXBA1000

STBXTS1120

STBXTS1130

STBXTS1100

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 135

Hardware

Components

Contd.

Pos.

5.1

5.3

5.4

5.5

5.6

5.7

6.1

6.2

6.3

amt.

Description

PC – HMI programming cable

Part Number

XBTZG935

Modbus Cable (3,0 m) 2xRJ45

LU9GC3

VW3A8306R30

Modbus T-junction with cable (0,3m) VW3A8306TF03

Terminal resistor VW3A8306RC

STBXCA4002 PC - Advantys STB programming cable (supplied with software)

Connection cable set for Altivar31,

71 and Lexium05

VW3A8106

VW3CANTAP2

TSXCANCA50

CANopen junction box

CANopen cable (50m); also available in other versions and lengths

Pre-assembled CANopen cable

(1 m) with RJ45 connector for

ATV/LXM

VW3CANCARR1

ATV71/CANopen master

Advantys STB

TSXCAN

KCDF180T

TSXCAN

KCDF90TP

Rev./

Vers.

Software

Components

Pos. Amt. Description

1.1

1.2

PS1131 PLC programming software with CoDeSys

Vijeo Designer for HMI

1.3

1.5

1.6

Advantys Configuration Software incl. RS232 connection cable software

PowerSuite LXM05 Launch parameterization software

PowerSuite ATV71 Launch parameterization software

Part Number

See note

VJDSSDTGSV4

STBSPU1000

VW3A8104

Launch version supplied with

LXM05

Launch version supplied with

ATV71

V2.20

Note:

1) The part number will be announced at the special training course focusing on the programmable Controller Inside card.

Rev./

Vers.

V2.30

V4.30

V2.00

V2.30

V2.20

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc Schneider Electric 136

Component Protection Classes

Mounting

Location /

Protection

Class

Component

Master switch with or without undervoltage release fuse and built-in trip indicator

Emergency-off switch housing (XALK)

Preventa modules (XPSxx)

Motor protection switch, all types and ratings

Contactors, LC1

XALD pushbutton housing, with components fitted

Phaseo power supplies

24 V DC

Altivar 71 variable speed drives, all rating classes

Altivar 31 variable speed drives, all rating classes

Lexium05 servo drive, all rating classes

Servo motor

Magelis XBTG graphic panel, all versions

Advantys STB distributed I/O island

CANopen TAPS with CAN cable

In the Field

IP55/IP65

Frontside

IP65

Cabinet

IP20

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Component Features

Components

Preventa safety relay: XPSAF5130

• Category 3 to EN 954 Part 1

• 24 V DC

• 3 safety-oriented switching contacts

• 1 semiconductor output for PLC

Phaseo power supply unit: ABL7RE2405

• 100 to 240 V AC/24 V DC

• 5 A secondary, other ratings also possible

• Slimline design

• Parallel possible

• Short-circuit-proof

Altivar variable speed drive: ATV71H075N4

• 0.75 kW, 400 V AC three-phase

• Integrated class B EMC filter

• Temperature range: -10 to +50°C

• Speed range 0 to 1000 Hz

• Graphic display for control and parameterization

• Operation via Modbus, CANopen or other buses possible

• Option cards: communication, encoder, Controller Inside

• 2 analog inputs plus 1 analog output

• Digital inputs, 2 digital status outputs

• 1 shutdown output (emergency-off function)

• Expansion cards for buses, I/O, control

• Protection of drive and motor

• Compact design, side-by-side installation possible

Programmable Controller Inside card VW3A3501

• PC interface for programming with PS 1131 dialog tools

• 24 V DC power supply

• 1 CANopen bus master interface

• 10 logic inputs, 2 of which can be used for 2 counters or 4 of which can be used for 2 incremental encoders

• 2 analog inputs

• 6 logic outputs

• 2 analog outputs

• 5 signaling LEDs

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Components

Contd.

Altivar variable speed drive: ATV31H037N4

• 0.37 kW, 380 to 500 V AC three-phase

• Integrated class B EMC filter

• Temperature range: -10 to +50°C

• Speed range from 1 to 20 (0 to 200 Hz)

• Speed control with flow vector check

• Operation via Modbus or CANopen possible

• 2 analog inputs plus 1 analog output

• Digital inputs

• 2 or 3 digital status outputs possible

• Protection of drive and motor

• Compact design, side-by-side installation also possible on a DIN rail using bracket VW3A11852

Lexium05 servo drive: LXM05AD14N4

• 1.4 kW, 380 to 480 V AC three-phase

• Integrated EMC line filter

• Temperature range: -10 to +50°C

• Operation via CANopen or Modbus possible

• 4 operating modes

- Point-to-point (relative or absolute)

- Speed or torque control

- Electronic gears

- Manual mode

• 2 analog inputs +/- 10 V

• 4 digital inputs and 2 digital outputs

• Protection of drive and motor

Servo motors: BSH0702P31A2A

• Continuous/peak/rated

• Rated speed: 6000 rpm

• BSH servo motors can be supplied in the following versions:

- IP40 or IP65 degree of protection

- With or without holding brake

- Straight or right-angled connector

- Singleturn or multiturn SinCos encoder

- Smooth shaft or shaft with featherkey

• Degree of protection

- Motor enclosure: IP65 in accordance with IEC/EN 60529

- Shaft end: IP40 or IP65 in accordance with

IEC/EN 60529

• Integrated sensor, Hiperface® SinCos absolute encoder

(singleturn or multiturn) with high-resolution interface

• Smooth or stepped shaft end, standard size (according to

DIN 42948)

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Components

Contd.

Operator and display terminal: Magelis XBT GT2330

• 5.7" color touch panel (65536)

• 24 V DC power supply (screw terminals)

• 9-pin Sub-D socket (COM 1) for serial link via RS232C or

RS485

• RJ45 socket (COM 2) for serial link

• RJ45 connector for Ethernet link

Port

• Slot with cover for compact flash memory card

• Interface for expansion unit (for future use)

Advantys STB

• Modular I/O system with

- Various fieldbus couplers

- Analog and digital modules

- Counters

- Expert modules

• I/O selectivity 2 to 16 channels

• Open to motor starters, variable speed drives and devices thanks to the bus backplane dimensions

- General 120 x 78 mm (HxD)

- Fieldbus coupler 40.5 mm wide

- I/Os and power module 13.5 or 18 mm wide

• Advantys STB has 7 different fieldbus interfaces, also called NIM

- CANopen

- Ethernet TCP/IP

- DeviceNet

- Modbus Plus

- INTERBUS

- FIPIO

- Profibus DP features

- Removable memory card

- I/O modules modified and parameterized via the serial interface

- Local HMI can be connected via the serial interface

- Direct, on site open-loop and closed-loop control, even if communication with the PLC fails

- HotSwap

- Separate infeed for input and output voltage

- Detailed diagnostics

- Reflex functions (intelligent preprocessing)

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Components

Contd.

PLC programming software with CoDeSys: PS1131

The PS1131 dialog tool conforms to international standard

IEC 61131-3. It contains all the functions necessary for programming and setting up the programmable Controller

Inside card.

• It also contains the CANopen Configurator.

• The programming and testing tools can be accessed via the application navigator. It provides an overview of the entire program and enables rapid access to all components of the application:

Program editor

Function block editor

Variables editor

Animation table editor

Operating screen editor

• Software supports the mono-task structure (cyclic or periodic) It is made up of several subprograms

• Data is exchanged with the variable speed drive via a function block. This block is included in the standard library.

• The following 6 programming languages are available:

- Ladder Language (LD)

- Structured Text (ST)

- Grafcet (SFC)

- Instruction List (IL)

- Function Block Diagram (FBD)

- Continuous Function Chart (CFC)

• The key testing functions are:

- Use of breakpoints

- Step-by-step program execution

- Individual cycle execution

- Direct access to called subprograms (call register) testing

- Program execution (breakpoints, step-by-step program execution, etc.)

- Animation tables

- Oscilloscope

- Operating screens (dedicated operating screens with animation of graphic objects, which are assigned to variables)

- Simulation (with drive disconnected)

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Components

Contd.

Advantys Configuration Software: STB SPU 1000

Proceed as follows to configure an Advantys STB system:

• If applicable, parameterize all the I/O modules on the

Advantys STB platform (digital, analog and intelligent modules) with standard functions.

• Generate the dedicated island EDS file, which will be used at a later stage

• Parameterize the reflex functions executed at island level.

These parameters are set using the Advantys

Configuration Software.

This software can also be used:

• To optimize island performance by specifying priorities to be applied when processing module data

• To add preferred modules or standard CANopen devices

(such as FTB, OTB, ATV31, Lexium05, for example)

• To check that the configuration complies with the design guidelines and to check the current consumption

• To change the module’s standard functions.

Vijeo Designer

Vijeo Designer configuration software has a number of parameterization windows that enable a project to be developed quickly and simply and are very user-friendly. Vijeo

Designer uses Java scripts that allow process data to be further processed on the XBT-G touch panel.

These are some of its functions:

• Navigator

• Library of animated graphic objects help

• Display of error reports

• Display of object characteristics

• Display of the list of variables

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Components

Contd.

PowerSuite dialog tool

• The PowerSuite dialog tool enables user-friendly operation of the following devices:

- Altivar variable speed drive

- Lexium05 servo drive

- TeSys model U motor controls

- Altistart soft starter

• A wide range of functions are integrated for the various application phases, e.g.:

- Preparing the configurations (for PC),

- Commissioning (for PC and Pocket PC)

- Maintenance (for PC and Pocket PC)

• During the startup phase, the device is connected to a PC and can be used:

- To transfer the configuration that has been made

- To make settings

- For monitoring. New functions have now been added for this option such as the Oscilloscope function.

- For control

- To save the final configuration

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Contact

Author

Schneider Electric GmbH

Customer & Market

System & Architecture

Architecture Definition

Support

Telephone E-Mail

+49 6182 81 2555 [email protected]

Schneider Electric GmbH

Steinheimer Strasse 117

D - 63500 Seligenstadt

Germany

ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc

As standards, specifications and designs change from time to time, please ask for confirmation of the information given in this publication.

144

Reklama

Controller Inside with Altivar Lexium

Advantys STB and Magelis

System User Guide

[source code]

Contents

Introduction

Abbreviations

Application Source Code

Introduction

Typical Applications

Introduction

General

System

Introduction

Architecture

Layout

Components

Quantities of

Components

Degree of

Protection

Technicaldata

Safety Notice

Dimensions

Installation

Introduction

Assembly

Note

General

Hardware

General

Software

General

Communication

Implementation

Introduction

Function

Functional

Layout

Communication

Introduction

Device Links

General

Addressing

HMI

Introduction

Vijeo

Designer

Layout

Creating a

New Project

Creating a

New Project

Communication

Settings

Communication

Settings

Creating

Variables

Creating

Screens

Showing

CANopen

Status

Downloading

Project

Application

Overview

Application

Overview

PLC

Introduction

Pre-

conditions

Configuration

Creating a

New Program

Expanding the

Recommended

Startup Project