System - Farnell
Controller Inside with Altivar Lexium
Advantys STB and Magelis
System User Guide
33003814.00
[source code]
Mar 2006
Contents
Application Source Code ...........................................................................................................3
Typical Applications ..................................................................................................................4
System .........................................................................................................................................5
Architecture ..............................................................................................................................5
Installation ................................................................................................................................8
Hardware ...............................................................................................................................................................9
Software ..............................................................................................................................................................18
Communication ..................................................................................................................................................19
Implementation.......................................................................................................................26
Communication ..................................................................................................................................................27
HMI .......................................................................................................................................................................36
PLC ......................................................................................................................................................................48
Devices ..............................................................................................................................................................104
Performance......................................................................................................................................................134
Appendix..................................................................................................................................135
Detailed Component List .....................................................................................................135
Component Protection Classes ..........................................................................................137
Component Features ...........................................................................................................138
Contact.....................................................................................................................................144
Introduction
This document is intended to provide a quick introduction to the described System.
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.
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1
Abbreviations
Word/Expression
AC
Advantys
Altivar (ATV)
CANopen
CB
CoDeSys
ConneXium
DC
EDS
E-OFF, E-STOP
Harmony
HMI
I/O
IclA (ICLA)
Lexium/Lexium05/LXM
Magelis
MB - SL
Micro
NIM
PC
Phaseo
PLC
Powersuite
Premium
Preventa
PS1131 (CoDeSys)
PS
SE
Sycon
Telefast
Tesys U
Twido
TwidoSoft
Unity (Pro)
Vijeo Designer
VSD
WxHxD
XBT-L1000
ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc
Signification
Alternating Current
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
SE product name for a family of servo-drives
SE product name for a family of HMI-Devices
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
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
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
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
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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
AIW
CNF
CO
CSV
CTX
DCF
DIB
DOC
DOP
EDS
FEF
GSD
ISL
PB
PDF
PRO
PS2
RTF
STU
STX
TLX
TWD
VDZ
XEF
ZM2
File Type
Configuration File
Configuration File
CANopen definitions file
Comma Separated Values, spreadsheet
Device Configuration File
Device Independent Bitmap
Document file
Project File
Electronic Data Sheet – Device Definition
Export file
EDS file (Geraete Stamm Datei)
Island file, project file
Profibus definitions file
Portable Document Format - document
Projektdatei
Export file
Rich Text File - document
Project file
Project file
Project file
Project file
Project file
Export file
Project File
ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc
Software Tool Required
Advantys
Sycon
Sycon
Twidosoft
Unity
Advantys
Sycon
Microsoft Word
Magelis XBTL
Industrial standard
PL7
Profibus
Advantys
Sycon
Adobe Acrobat
PS1131 - CoDeSys
Powersuite export file
Microsoft Word
Unity studio
PL7
Twinline control tool
TwidoSoft
Vijeo Designer
Unity Pro
Zeliosoft
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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.
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System
Introduction
The system chapter describes the architecture, the dimensions, the quantities and different
types of components used within this system.
Architecture
General
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
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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
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.
Technicaldata
Mains voltage
Power requirement
Drive power rating
Motor brake
connection
Safety Level
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.
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)
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
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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.
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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.
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Hardware
General
• 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
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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
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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:
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ATV71 variable speed
drive incl. line supply
and motor connection
ATV71H075N4
Description of terminals:
ATV71 variable speed
drive
Controller Inside card
VW3 A3501
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1. RJ45 connector for the
PS 1131 programming
software
2. CANopen bus
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
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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
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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
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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)
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Power cable 3 m
VW3 M5 101R30
(old:GEA2MOAAAA003)
Feedback cable 3 m
VW3 M8 101R30
(old:GEA 2EAAAAA003)
Magelis HMI
XBT-GT 2330
1
2
+
FG
24 VDC
0 V
Earth
3
4
5
6
USB-Port (USB1.1)
Serial Port COM1
(SubD, 9-polig)
Power Connection (see left)
Serial Port COM2 (RJ45)
Polarisation selector
Ethernet connector
(10BASE-T/100BASE-TX)
Advantys STB
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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).
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Software
General
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 2000 or
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
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Communication
General
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)
.
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Modbus Connection
Between HMI (COM2)
and ATV71.
Depending on
topography and what
components are used.
1
2
3
4
5
6
7
LU9 GC3
VW3 A8 306 R03
VW3 A8 306 R10
VW3 A8 306 R30
VW3 A8 306 TF03
VW3 A8 306 TF10
VW3 A8 306 RC
TSX CSA 100
TSX SCA 50
VW3 A8 306 D30
Modbus Hub
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
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.
Modbus
Turn the polarisation on,
on the HMI.
Set the Polar switch to
ON
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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
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Advantys STB
CANopen bus adapter
STB NCO 2212
CANopen baud rate
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
5 - 500,000 bps
2 - 50,000 bps
6 - 800,000 bps
3 - 125,000 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.
Advantys STB
CANopen bus adapter
STB NCO 2212
CANopen address
ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc
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.
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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.
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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.
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CANopen connector
VW3 CAN KCDF 90TP
This connector is used
for the link to the
Advantys STB I/O
island.
At the end of the bus,
the terminating resistor
must be activated. To do
this, set the switch to
ON.
CANopen connector
assignment
VW3 CAN KCDF xxxx
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.
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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
Instructions for switching on and functional description
1.
2.
3.
4.
5.
6.
Switch on all fuses and motor circuit breakers.
Switch on the master switch.
Acknowledge emergency-off signals.
Acknowledge error messages to HMI.
You can now select MANUAL or AUTOMATIC mode on the main screen.
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.
Functional
Layout
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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:
•
•
•
•
Device Links
The device links
Direction of data flow
symbolic name and
Bus address of the device concerned.
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.
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The following CANopen settings are used in this application:
CANopen
Addresses
Controller Inside PLC is CANopen master
Device
Controller Inside
1. Altivar 71
2. Altivar 71
1. Lexium 05
2. Lexium 05
3. Lexium 05
4. Lexium 05
5. Lexium 05
1. Altivar 31
2. Altivar 31
3. Altivar 31
4. Altivar 31
5. Altivar 31
6. Altivar 31
Advantys STB
CANopen Address
1
none
2
3
4
5
6
7
8
9
10
11
12
13
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)
CANopen
COB-ID
Data Direction Device --> PLC (TPDO)
Device
1.PDO 2.PDO 3.PDO 4.PDO 5.PDO 6.PDO
2. ATV71
182
----1. LXM05
183
----483
2. LXM05
184
----484
3. LXM05
185
----485
4. LXM05
186
----486
5. LXM05
187
----487
1. ATV31
--698
2. ATV31
--699
3. ATV31
--69A
4. ATV31
--69B
5. ATV31
--69C
6. ATV31
--69D
18E
28E
Advantys STB
Data direction PLC --> Device (RPDO)
Device
1.PDO 2.PDO 3.PDO 4.PDO 5.PDO 6.PDO
2. ATV71
202
----1. LXM05
203
----503
683
2. LXM05
204
----484
684
3. LXM05
205
----485
685
4. LXM05
206
----486
686
5. LXM05
207
----487
687
1. ATV31
--688
2. ATV31
--688
3. ATV31
--68A
4. ATV31
--68B
5. ATV31
--68C
6. ATV31
--68D
20E
Advantys STB
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28
Datalink
PLC <> ATV71
Controller Inside (CANopen-Master)
Altivar 71 (CANopen-Slave)
Data direction PLC <-- ATV (TPDO)
Index Designation
Address 2.ATV Designation
%IW
80 direct to EFB input
6041 Drivecom status register
%IW
81 direct to EFB input
6044 Control effort
%IW
82 direct to EFB input
603F Error Code
%IW
83 not used
./. Reserve
%IW
84 not used
./. Reserve
%IW
85 not used
./. Reserve
%IW
86 not used
./. Reserve
Data direction PLC --> ATV (RPDO)
Index Designation
Address 2.ATV Designation
%QW
80 direct from EFB output
6040 Drivecom command reg.
%QW
81 direct from EFB output
6042 Target velocity
%QW
82 not used
./. Reserve
%QW
83 not used
./. Reserve
%QW
84 not used
./. Reserve
%QW
85 not used
./. 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
Index Designation
%IW
91
107
123
139
155
6041 Drivecom status register
%IW
92
108
124
140
156
./. Reserve
%IW
93
109
125
141
157
./. Reserve
%IW
95
111
127
143
159
./. Reserve
%ID
48
56
64
72
80
./. Reserve
%ID
49
57
65
73
81
606B Velocity actual value
%ID
50
58
66
74
82
6064 Position actual value
Data Direction PLC --> LXM (RPDO)
Address 1.LXM 2.LXM 3.LXM 4.LXM 5.LXM
Index Designation
%QW
91
107
123
139
155
6040 Drivecom command reg.
%QW
92
108
124
140
156
./. Reserve
%QW
93
109
125
141
157
./. Reserve
%QW
95
111
127
143
159
./. Reserve
%QD
48
56
64
72
80
./. Reserve
%QD
49
57
65
73
81
60FF Target velocity
%QD
50
58
66
74
82
607A Target position
%QD
51
59
67
75
83
6081 Profile velocity
Datalink
PLC <> ATV31
Controller Inside (CANopen-Master)
Data Direction PLC <-- ATV
Address 1.ATV 2.ATV 3.ATV 4.ATV 5.ATV 6.ATV
%IW
170
175
180
185
190
195
%IW
171
176
181
186
191
196
%IW
172
177
182
187
192
197
%IW
173
178
183
188
193
198
Data Direction PLC --> ATV
Address 1.ATV 2.ATV 3.ATV 4.ATV 5.ATV 6.ATV
%QW
170
175
180
185
190
195
%QW
171
176
181
186
191
196
%QW
172
177
182
187
192
197
ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc
Altivar 31 (CANopen-Slave)
(TPDO)
Index Designation
./. Reserve
6041 Drivecom status register
6044 Control effort
603F Error Code
(RPDO)
Index Designation
./. Reserve
6040 Drivecom command reg.
6042 Target velocity
Schneider Electric
29
Datalink
PLC <> STB
Controller Inside (CANopen-Master)
Advantys (CANopen-Slave)
Data Direction PLC <-- STB (TPDO)
Input
Address Bit Designation
word Designation
%IB400 0...5 1. Input Module, Input 1...6
1
Slot 3 - Input 1...6
%IB401 0...5 1. Input Module, Status 1...6
1
Slot 3 - Status 1...6
%IB402 0...5 2. Input Module, Input 1...6
2
Slot 4 - Input 1...6
%IB403 0...5 2. Input Module, Status 1...6
2
Slot 4 - Status 1...6
%IB404 0...3 3. Input Module, Input 1...4
3
Slot 5 - Input 1...4
%IB404 4...7 3. Input Module, Status 1...4
3
Slot 5 - Status 1...4
%IB405 0...5 1. Output Module, Echo 1...6
3
Slot 6 - Echo 1...6
%IB406 0...5 1. Output Module, Status 1...6
4
Slot 6 - Status 1...6
%IB407 0...5 2. Output Module, Echo 1...6
4
Slot 7 - Echo 1...6
%IB408 0...5 2. Output Module, Status 1...6
5
Slot 7 - Status 1...6
Data Direction PLC --> STB (RPDO)
Address Bit Designation
%QB400 0...5 1. Output Module, Output 1...6
%QB401 0...5 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:
Modbus
Addresses
Magelis HMI is Modbus slave
Device
Magelis HMI
Controller Inside
Modbus Address
1
8
Interface
COM2
RJ45 on ATV71
2
not used
1
not used
1
not used
1
not used
RJ45
1. Altivar 71
2. Altivar 71
1. - 6. Altivar 31
1. - 5. Lexium05
RJ45
RJ45
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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30
Datalink
HMI <> PLC
for Altivar
Name
Start
Estop
Dir
Ackn
Error
CommOK
Run
Mot_ES
AC_pwr_OK
Res
Speed_Set
Speed_Act
ErrCode
CANopen
Name
Start
Estop
Dir
Ackn
Error
CommOK
Run
Mot_ES
AC_pwr_OK
Res
Speed_Set
Speed_Act
ErrCode
CANopen
Controller Inside
Magelis HMI
Data Direction HMI <--> PLC (for Altivar)
Type Addr.
2.
1.
2.
3.
Bit Designation
ATV71 ATV31 ATV31 ATV31
BOOL
0
Start Command
%MW 1000 1010 1020 1030
BOOL
8
emergency Off
BOOL
0
direction of Revolutions
%MW 1001 1011 1021 1031
BOOL
8
Acknowledgement
BOOL
0
Error message
%MW 1002 1012 1022 1032
BOOL
8
Communication OK
BOOL
0
running
%MW 1003 1013 1023 1033
BOOL
8
Motor Emergency off
BOOL
0
Power OK
%MW 1004 1014 1024 1034
BOOL
8
Reserve
WORD %MW 1005 1015 1025 1035
--- Set Revolutions
WORD %MW 1006 1016 1026 1036
--- Actual Revolutions
WORD %MW 1007 1017 1027 1037
--- Errorcode
WORD %MW 1008 1018 1028 1038
--- Status Communication
Data Direction HMI <--> PLC (for Altivar)
Type Addr.
4.
5.
6.
1.
Bit Designation
ATV31 ATV31 ATV31 ATV71
BOOL
0
Start Command
%MW 1040 1050 1060 1070
BOOL
8
Emergency Off
BOOL
0
Direction of Revolutions
%MW 1041 1051 1061 1071
BOOL
8
Acknowledgement
BOOL
0
Error Message
%MW 1042 1052 1062 1072
BOOL
8
Communication OK
BOOL
0
Running
%MW 1043 1053 1063 1073
BOOL
8
Motor Emergency Off
BOOL
0
Power OK
%MW 1044 1054 1064 1074
BOOL
8
Reserve
WORD %MW 1045 1055 1065 1075
--- Set Revolutions
WORD %MW 1046 1056 1066 1076
--- Actual Revolutions
WORD %MW 1047 1057 1067 1077
--- errorcode
WORD %MW 1048 1058 1068 1078
--- Status Communication
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31
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
0
Start Command
%MW
1100 1122 1144
BOOL
8
Emergency off
BOOL
0
Direction of Rotation
%MW
1101 1123 1145
BOOL
8
Acknowledgement
BOOL
0
Operating Mode OK
%MW
1102 1124 1146
BOOL
8
Operating Mode Selection
BOOL
0
Communication OK
%MW
1103 1125 1147
BOOL
8
Position reached
BOOL
0
Power OK
%MW
1104 1126 1148
BOOL
8
Motor running
BOOL
0
Error Message
1105 1127 1149
%MW
BOOL
8
Reserve
%MW
--1106 1128 1150
Set Revolutions
DINT
%MW
--1107 1129 1151
%MW
--1108 1130 1152
Actual Revolutions
DINT
%MW
--1109 1131 1153
%MW
--1110 1132 1154
Set Position
DINT
%MW
--1111 1133 1155
%MW
--1112 1134 1156
Actual Position
DINT
%MW
--1113 1135 1157
%MW
--1114 1136 1158
Profile Speed
DINT
%MW
--1115 1137 1159
WORD %MW
--- CANopen Address
1116 1138 1160
WORD %MW
--- Errorcode
1117 1139 1161
WORD %MW
--- Errorcode
1118 1140 1162
WORD %MW
--- Status Communication
1119 1141 1163
BOOL
0
SDO enable
%MW
1120 1142 1164
BOOL
8
SDO sent
WORD %MW
1121 1143 1165
--- operation mode
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32
Datalink
HMI <> PLC
for Lexium
and STB
Controller Inside
Magelis HMI
Data Direction HMI <--> PLC (for Lexium05 and Advantys STB)
Name
Type Address 4.LXM 5.LXM STB
Bit Designation
Start
BOOL
0
Start Command
%MW
1166 1188
--Estop
BOOL
8
emergency Off
Dir
BOOL
0
Direction of Rotation
--%MW
1167 1189
Ackn
BOOL
8
Acknowledgement
ModeOK
BOOL
0
Mode OK
--%MW
1168 1190
Mode_T
BOOL
8
Mode Selection
CommOK
BOOL
0
Communication OK
1251
%MW
1169 1191
PosOK
BOOL
--8
Position reached
Run
BOOL
0
Resistance OK
--%MW
1170 1192
Mot_ES
BOOL
8
Run message
Error
BOOL
0
Error message
1171 1193
--%MW
Res
BOOL
8
Reserve
%MW
----1172 1194
Set value Revolutions
Speed_Set
DINT
%MW
----1173 1195
%MW
----1174 1196
Actual Revolutions
Speed_Act
DINT
%MW
----1175 1197
%MW
----1176 1198
Set Value Position
Position_Set DINT
%MW
----1177 1199
%MW
----1178 1200
Actual Position
Position_Act DINT
%MW
----1179 1201
%MW
----1180 1202
Profile Revolutions
DINT
Profil_spd
%MW
----1181 1203
Node_ID
WORD %MW
----- CANopen Address
1182 1204
ErrCode
WORD %MW
----- Errorrcode
1183 1205
ErrorC
WORD %MW
----- Errorcode
1184 1206
CANopen
WORD %MW
--- Status Communication
1185 1207 1250
SDO_EN
BOOL
0
SDO enable
%MW
1186 1208
--SDO_done
BOOL
8
SDO sent
Mode
WORD %MW
1187 1209
----- Operation Mode
The following data points are used to animate the header in the HMI:
Datalink
HMI <> PLC
General
Controller Inside
Magelis HMI
Data Direction HMI <--> PLC (for Lexium05 and Advantys STB)
Name
Type Address Bit
Name
Designation
Pos1E
BOOL %MX 997 0 Drive3.Pos equal 1.LXM Desired = Actual position
Pos1A
BOOL %MX 997 1 Drive3.Pos add 1.LXM Desired position +
Pos1S
BOOL %MX 997 2 Drive3.Pos sub 1.LXM Desired position Pos2E
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
998 0
Head.CANopen present
BusCANopen BOOL %MX
Safety
BOOL %MX 998 1
Head.Safety
Safety OK
Alarm
BOOL %MX 998 2
Head.Alarm
No Error Messages
Ackn
BOOL %MX 998 3
--Error Acknowledge
Auto
BOOL %MX 998 4
Head.Auto
Automatic Mode
Manual
BOOL %MX 998 5
Head.Manual Manual Mode
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33
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.
Structure name
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
ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc
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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34
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:
I
- Input
Q
- Output
M
- Flag
The following data types are supported:
X
- Individual bit
None - Individual bit
B
- Byte (8 bits)
W
- Word (16 bits)
D
- Double word (32 bits)
Examples:
%QX7.5
%Q7.5
%QB7
%IW215
%MD48
ivar AT %IW0: WORD;
- Output bit 7.5
- Output bit 7.5
- Output byte 7
- Input word 215
- 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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35
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:
Vijeo
Designer
Layout
1.
2.
3.
4.
5.
6.
7.
8.
Vijeo Designer function overview
Create new project (specify platform, hardware, communication)
Communication settings
Set up new variables
Create screens
Show CANopen status
Check the project and download it
Application overview
1
The Vijeo Designer environment
consists of the following
elements:
1 Navigator
2 Info-display
3 Inspector
4 Data list
5 Feedback-Zone
6 Toolbox
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36
Creating a
New Project
1
When Vijeo Designer starts up,
a selection window appears.
Select Create new Project and
Next.
2
Enter a project name for the
application and a comment (if
necessary).
3
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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37
Creating a
New Project
4
In order to use the device's
Ethernet interface, you need to
enter the IP address, subnet
mask and, if applicable, the
gateway.
5
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.
6
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.
Contd.
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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38
Communication
Settings
1
Once you have created the
project, Vijeo Designer will
display the workspace described
above with an empty edit screen
on the right-hand side.
2
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.
3
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….
Continued on next page
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39
Communication
Settings
4
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
5
For the equipment
configuration, right-click on
ModbusEquipment01 and
select Configuration….
6
Enter the Modbus address of
the Controller Inside PLC.
7
Right-click and select Rename
to change the name.
Continued on next page
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Creating
Variables
1
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 .
2
To create variables, the
following information must be
entered:
•
•
•
•
Variable Name
Data Type
Data Source (External)
Address in the PLC
3
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.
4
The variables created are
displayed in the Navigator,
along with their names and
addresses.
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41
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.
1
Example: Insert Display
Selection from the menu bar.
Various icons and elements are
available in the menu bar and
the toolbox.
2
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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42
4
Zusätzliche Funktionen, z.B. die
Invertierung des Wertes, können
über das TaschenrechnerSymbol erzeugt werden.
5
The display opposite shows the
completed screen in which the
separate properties for
animation and actions appear.
6
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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43
Showing
CANopen
Status
1
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.
2
The process starts with the
declaration of the variable and
the reading of the CANopen
status.
3
Then the number is converted
into the text you will see on the
display.
4
Finally, the data is written to the
output variable (type string).
5
The item appears on the screen
in text format (15 characters in
length) (the entry is the above
output variable).
6
The output text will then appear
during operation.
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44
Downloading
Project
1
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.
2
Build All performs a similar
function.
3
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.
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45
Application
Overview
1
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.
2
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.
3
ATV71 drives are controlled in a
similar way to ATV31 drives.
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46
Application
Overview
4
The corresponding screen for
the first two Lexium 05 servo
drives appears opposite. Two
modes (speed and position) are
available for selection.
5
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.
6
The same applies in the event of
an error message pending for a
drive. General message via
header. Detailed information on
alarm screen.
Contd.
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47
PLC
Introduction
The PLC chapter describes the steps required for the initialization and configuration
and the source program required to fulfill the functions.
Preconditions
Before carrying out the steps described below, you must ensure that:
•
•
•
•
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
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.
Configuration
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
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Creating a
New Program
1
To create a new application,
once the PS1131-CoDeSys
software has started up, select:
File->New
2
Select Controller Inside as the
target system in the next
window that appears.
3
You can make further settings
here. We are going to accept
the default settings.
4
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.
5
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.
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Expanding the 1
Recommended
Startup Project
TemplateProj
ect.pro
2
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….
……
3
…to select and confirm the
startup project.
4
If the version of the library has
changed, a corresponding
message will appear on the
screen. Click OK to confirm.
5
The project is write-protected.
However, you can save it
under a new name.
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6
Once you have clicked OK,
the startup project will open
and appear on the screen.
7
Select
File->Save as..
to save the project with a new
name.
8
Select Library Manager on
the Resources tab in the
Object Organizer.
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9
The libraries listed opposite
are integrated in
PS1131-CoDeSys.
10
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.
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Download &
Start Up
1
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.
2
You can change the name of
the new channel.
Click OK to confirm.
3
The new channel appears.
Click OK to close the window.
4
The connection with the PLC is
established by selecting:
Online -> Login.
5
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.
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6
Once the download is
complete, the program must be
started.
Do this by selecting
Online -> Run.
7
Information appears in the
status bar in the bottom righthand corner of PS1131.
8
You can also view the state of
the Controller Inside card in the
preconfigured PS1131CoDeSys viewer.
To do this, open the
VIZU_TASK_TIMING window
via the Visualizations tab in
the Object Organizer.
Create
Boot-Project
1
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.
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2
The PLC must be stopped in
order to perform the download.
Select Yes.
3
A message informs you that
the project is loading
4
When finished (and if required)
you must start the PLC again
with
Online->Run
Creating the
Data
Structure
1
Select the Data types tab in
the Object Organizer.
Data structures are used to
group common data types.
2
Click with the right mouse
button and select:
Add Object….
3
Give the data type a name.
4
The ATV_data data structure is
used to link the Altivar function
blocks to the I/O communication addresses or data.
5
The following data structures are used:
•
•
•
•
ATV_data
ATV_HMI
LXM_data
LXM_HMI
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I/O data for Altivar FBs
Data exchange with HMI for Altivar
I/O data for Lexium FBs
Data exchange with HMI for Lexium
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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.
1
•
•
•
"Normal" variables
Constants or
Remanent variables
defined in the overall project
can be declared as global
variables.
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2
In the declaration section of a
block, all variables used only in
that block are declared. These
might be:
•
•
•
•
•
Input or output variables
I/O 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
1
Select PLC Configuration on
the Resources tab in the
Object Organizer.
2
The PLC configuration appears
on the right-hand side of the
window.
3
Select:
Insert->Append CanMaster
to link a CANopen master or
right-click on Controller Inside.
4
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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5
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
Automatic startup
Support DSP …
The heartbeat is set in the
Application_CanOpen
program.
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Integrating
the CANopen
EDS Files
1
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.
2
The target directory appears in
the Directories category under
Target and Configuration
files.
3
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 71
• Altivar 31
• Lexium 05 and
• Advantys STB
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
1
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.
2
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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3
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.
4
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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5
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.
6
Once added, the Error Code
appears as follows.
7
The address assignment
appears in the PLC
configuration.
%QW80
%QW81
%IW80
%IW81
%IW82
=
=
=
=
=
Control word
Setpoint speed
Status word
Actual speed
Error word
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
1
The startup project makes
provision for the integration of
CANopen.
Select:
Application_CanOpen();
to call up the PLC_PRG
program.
2
Call up the CANopen block in
the Application_CanOpen
program.
CanOpen(heartbeat_ms:=300)
3
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
1
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.
2
Click with the right mouse
button again to rename the
new folder.
3
In this case we are going to
use the FBs subdirectory.
4
To add a function block, click
with the right mouse button and
select Add Object....
5
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.
6
The following function blocks are used:
•
•
•
•
•
•
•
ATV71
ATV31
LXM05
from_ATV
to_ATV
from_LXM
to_LXM
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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)
1
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.
2
This is what the information will
actually look like to the user.
2
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.
3
An operating state chart
appears opposite.
The ATV71 documentation
(Communication parameters)
contains a detailed description
of the individual operating
states.
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4
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.
5
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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6
Creating a
Program
Block (FBD)
for ATV71
1
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.
2
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.
3
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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4
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.
5
Then use F2 to select the
required block. In this case:
the from_ATV function block
created previously.
6
Now use the right mouse
button to connect another
block at the FB’s output pin.
7
Use F2 to specify.
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8
9
10
11
And select FB ATV71.
Add another block.
And use F2
to select FB to_ATV.
12
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.
13
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.
14
15
Now do the same for the FB
ATV71 and
and FB to_ATV instances.
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16
Instanced FBs.
17
Now enter the input
addresses. For information
about addresses, see also
Communication.
You can also connect
variables here.
18
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.
19
To connect the output address
to the final block, right-click
with the mouse and select
Assign.
20
And then enter the output
addresses. For information
about addresses, see also
Communication.
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Linking
Lexium05 for
CANopen
1
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.
2
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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3
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.
4
On the Receive PDOMapping 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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5
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.
6
A fifth PDO is required for the
Profile velocity.
To add this PDO, click on
Insert PDO.
7
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.
8
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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9
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.
10
The following should now be
visible in the window.
11
The process for dealing with
the Send PDO-Mapping tab
(Drive -> PLC) is extremely
similar.
Leave the first three PDOs
exactly as they are.
12
Expand the fourth PDO by
adding Velocity actual value
and Position actual value.
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13
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).
14
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.
15
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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16
Connect the other four
Lexium05 servo drives in the
same way.
17
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.
Special
features in
function
block (ST) for
LXM05
1
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.
2
This is what the LXM05 FB
will actually look like to the
user.
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3
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.
4
5
The operating state is
represented by bits 0, 1, 2, 3,
5 and 6.
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6
7
8
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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9
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.
10
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.
11
12
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
1
2
3
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
1
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.
2
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.)
3
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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4
5
On the Receive PDOMapping tab (Drive <- PLC),
the 1st and 6th 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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6
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
to
0x 0x680 + NodeID.
7
The following should now be
displayed.
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8
The process for dealing with
the Send PDO-Mapping tab
(Drive->PLC) is very similar.
Deactivate the first PDO,
changing
0x180
to
0x80000180
9
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 >>.
10
Thus, the following entries
should now appear under the
sixth PDO.
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11
The sixth PDO is deactivated
by default.
Change
0x80000000
to
0x690 + NodeID.
You also need to enter an
Inhibit Time to prevent the
bus from becoming overloaded.
Enter a value of 50.
12
13
14
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
1
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.
2
This is what the function block
will actually look like to the
user.
Below is a chart showing the
operating states.
3
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4
5
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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6
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
1
Create a program block with
the block name.
Control_ATV31 in the Your
Application Folder.
2
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.
3
Press F2 to access the input
assistant.
4
Select the to_ATV function
block here.
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5
Right-click with the mouse to
place another block at the
input pin.
6
Again, use F2 to access the
input assistant.
7
And specify FB ATV31.
8
Now place another block.
9
And select the from_ATV FB.
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10
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.
11
12
13
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.
14
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Linking
Advantys
STB I/O
island for
CANopen
1
Copy the EDS file created
using the Advantys
Configuration Software to the
configuration file directory.
See also Integrating the
CANopen EDS Files
2
Once you have copied the
EDS file, right-click with the
mouse on the CanMaster and
select the STB1 subelement.
Alternatively, this function can
be accessed via the menu by
selecting:
Insert->Append Subelement
3
Once you have selected the
Advantys STB, a properties
dialog box will appear on the
right-hand side.
On the Base parameters tab,
enter %IB400 as the input
address and %QB400 as the
output address.
(See the list in the
Communication chapter for
more information.)
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4
In the CAN parameters tab:
The CANopen address 14 is
entered in the Node ID field.
Nodeguarding is unchecked.
Create alle SDO’s, Heartbeat
and Emergency are checked.
The Heartbeat producer
time is 100 ms.
5
On the
Receive PDO-Mapping
tab (STB <- PLC), the default
setting for the first PDO is
accepted.
6
On the
Send PDO-Mapping
tab (STB <- PLC), the default
settings for the first two PDOs
are accepted.
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7
The address assignment
appears in the PLC
configuration.
8
When the PLC starts up, the
ControllerInside_Start
program is called once and
the connected CANopen
nodes are declared.
The node with address 14 is
added here.
CanOpenAddSlave(CanOpe
nNodeID:= 14);
9
To add a new program block,
select the Block tab in the
Object Organizer.
Then right-click with the
mouse and select:
Add Object….
10
Next, assign the Name of the
new POU, select Program
and under Language of the
POU, select ST (or another
language).
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11
This block is used to notify the
STB island digital outputs of
CANopen bus node
availability.
12
In order for the program block
to be executed, it must be
called by a superordinate
program block. This happens
here.
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Altivar 71 for
internal data
exchange
1
The Control_ATV71_int
program block is responsible
for controlling the ATV71
internally.
2
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.
3
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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4
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.
5
A description of the blocks is
available in the online help.
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Using the
plug-in
graphic
display
terminal
1
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.
2
When the application is started,
the ControllerInside_Start
program block is called via
PLC_PRG -> Drive_Start.
Steps 1 to 5 are executed.
3
The second step defines
whether a variable is visible
and whether it can be modified.
The limits and display format
are also defined.
4
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.
5
The display can be found in the
menu under 1. Drive Menu
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6
and
1.14 Display ATV71.
7
The display texts are defined
as part of the fourth step.
8
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.
9
The logic is programmed in the
Display_Control program
block.
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Creating
viewer within
CoDeSys
1
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.
2
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.
3
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.
4
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.
5
Here you can define the
normal color and the alarm
color in order to facilitate a
subsequent change in color.
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6
The change in color is
achieved by entering the
variables. Press F2 to access
the input assistant.
7
In order for analog values to
be displayed, enter the %s
placeholder in the text content
field.
8
When defining the variables,
enter the variable to be
displayed in the Textdisplay
field. Use F2.
9
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.
10
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:
Creating a
New Project
(Workspace)
•
•
•
•
•
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
1
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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2
Then select the language.
3
After starting the Advantys
configuration software, you
must create a new workspace.
4
To do this, specify the path,
the workspace name and the
name of the first island.
5
An empty top-hat rail will be
displayed.
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Configuring
the hardware
1
Then select the network
interface for CANopen.
STB NCO 2212
2
Next, select the power supply
STB PDT 3100,
3
the digital input cards used
STB DDI 3610 (2x),
STB DDI 3420 (1x),
4
the digital output cards
STB DDO 3600 (2x)
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5
and finally the terminating
resistor
STB XMP 1100.
6
The following should now be
displayed.
7
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)
1
The internal baud rate can be
set via the menu bar by
selecting Baud Rate Tuning….
2
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
1
Parameterization is now
complete. Now you need to
generate the STB project. To
do this select Island -> Build
from the menu bar.
2
Unless you have already
saved the changes, you
should do this now by clicking
OK.
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3
The bottom section provides a
log of the individual actions.
4
The words
... completed successfully
should now be visible here.
5
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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6
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.
7
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
8
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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9
Then respond to the
subsequent messages with
Yes
And
OK.
Generating
an EDS file
10
The text shown on the right
should now appear in the
bottom window.
11
Then, you can terminate the
connection.
1
To generate the EDS file,
select
File -> Export STB1….
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2
You can enter the directory and
file name here.
3
Copy this file from …
4
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.
.
General
Setup
The following describes the basic setup of PowerSuite:
1
After starting PowerSuite you
see the display on the right.
2
Select
Display->configuration
so that the configuration is
added to the project browser
list.
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3
The project browser aids you in
managing the machines.
4
In
Connections
You can view the
communications setup and
Modify it.
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5
Select the COM interface you
wish to use
.
6
When you select the
connection in the project
browser, the description
appears in the window on the
right.
7
Powersuite allows you to
create folders for your drives.
To do this click on the main
folder:
My Devices
8
Then select:
File->New->Folder
9
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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10
If you select your folder in the
project browser your image
and description are shown in
the window on the right.
11
Any drive group, including its
data, can be exported.
12
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.
1
The CANopen address and
transfer rate are set manually
via the control buttons on the
device.
2
First, use the control buttons to
select the Communication
submenu.
3
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.
4
In the Communication menu,
you must also set the transfer
rate in the BdC0 parameter to
the value 500.0 (kbits).
5
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.
1
On startup, select the
folder
ControllerInside
in the project browser.
(see the general
PowerSuite setup above)
2
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.
3
PowerSuite notes that it
is a new device and asks
for permission to insert it
in the database
Click on Create
4
Enter a name for the
new device.
This name is used for
the configuration.
5
The data is read out from
the ATV31.
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6
Once the transfer is
complete, the device
data will be displayed.
7
The parameters can be
displayed and modified
in list format
8
or using graphical
support. The view shown
here can be accessed
via:
Settings/Drive
Parameters -> Motor
Characteristics.
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9
Enter the motor data for
the motor.
10
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.
11
Now you can save the
data.
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12
Use either
Action->Download
Or
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)
1
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.
2
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
1
with ATV71
Select the ControllerInside
folder in the project browser.
Use:
Action->Connect
to connect to the ATV71.
2
3
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.
4
Next, you need to enter the
name of the configuration or
device.
5
The data is read out from
the ATV71.
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6
Once the transfer is
complete, the device data
will be displayed.
7
This screenshot shows the
details of the ATV71 with
the Controller Inside card.
8
You can select the relevant
drive in the project browser
on the left-hand side.
9
The parameters can be
displayed and modified in
list format
OR….
10
....using graphical support.
The view shown here can
be accessed via
Simply Start.
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11
Enter the motor data for the
motor.
12
Now you can save the data.
13
In the Communication
area, the following
distinction is made between
the two ATV71 drives:
ATV71 with CI
2x Modbus with
Adr. 1
Adr. 8 (CI)
No CANopen
ATV71 on CANopen
1x Modbus
1x CANopen with
address 2 and
baud rate 500
14
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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15
Use:
Action->Download
OR
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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Lexium 05
LXM05
Manual
Setup
1
After wiring is complete, the
drive control parameters must
be set.
Parameters can be edited via
the integral operating panel
(HMI).
2
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.
1
Use
Action->Connect
OR
The icon in the toolbar
to connect to the Lexium05.
Remember to connect the PC
to the lexium05 with the
correct cable.
2
Once connected, PowerSuite
recognises a new device and
asks for confirmation to insert
it into its database.
Acknowledge the request with
Create
3
Enter a new name for the
device when requested and
exit with OK.
5
The data is read out from the
Lexium05.
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6
Once the transfer is complete,
the device data will be
displayed.
7
You can select the relevant
drive in the project browser on
the left-hand side.
8
The parameters can be
displayed in list format or in
page view.
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9
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.
10
Initially, the change will be
highlighted in red, but the
display color will change when
you select:
File->Save.
11
Make the following settings
under Communication:
CANopen address:
CANopen baud rate:
Modbus address:
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3...7
500
1
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12
To transfer the settings to the
Lexium05, select:
Configuration ->
Save to EEPROM.
13
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
14
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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15
Now set the Enable switch to
On.
Potential errors can be
acknowledged by clicking
Reset.
16
Test run can be used to
activate the servo drive. Test
stop can be used to stop it
again.
17
Use the buttons Neg and Pos
to change the direction of
rotation on the drive.
18
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
Pos.
Amt.
1.1
1
1.2
1.3
1.4
1.5
1.6
2.1
2.2
2.3
1
1
1
1
1
1
1
7
2.4
6
2.5
2.6
2.7
2.8
2.9
2.10
2.11
2
1
3
3
1
1
1
2.12
2.13
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
1
1
2
1
6
5
5
5
5
1
4.1
4.2
1
0
4.3
4.4
4.5
4.6
4.7
4.8
4.9
1
2
1
2
1
5
1
4.10
1
4.11
1
Description
Part Number
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 locking device
Preventa emergency off relay
Emergency-off pushbutton housing
Motor circuit breaker (9 - 14 A) for
LEX05 and ATV71
Motor circuit breaker (2.5 A) for
ATV31
Motor contactor
Auxiliary switch block
24 V DC, 5 A power supply
2-pin, 2 A back-up fuse for 24 V DC
1-button pushbutton housing, empty
Illuminated button blue, flat
Auxiliary switch block with lamp
holder plus white LED
Standard auxiliary switch (1xNO)
Standard auxiliary switch (1xNC)
Altivar 71 variable speed drive
Controller Inside card for ATV71
Altivar 31 variable speed drive
Lexium05 servo drive
Servo motor
Servo motor power cable
Servo motor feedback cable
Magelis operator and display
terminal
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)
29003
ControllerInside_Altivar_Lexium_Advantys_Magelis_EN.doc
Rev./
Vers.
29321
29035
29407
29450
29371
XPSAF5130
XALK178G
GV2ME16
GV2L07
LC1D18BD
LADN11
ABL7RE2405
GB2DB07
XALD01
ZB5AW363
ZALVB1
ZBE101
ZBE102
ATV71H075N4
VW3A3501
ATV31H037N4
LXM05AD14N4
BSH0702P31A2A
VW3M5101R30
VW3M8101R30
XBTGT2330
V1.1
V1.2
V1.1
STBNCO2212
STBXMP1100
STBPDT3100
STBDDI3610
STBDDI3420
STBDDO3600
STBXBA2200
STBXBA1000
STBXTS1120
STBXTS1130
STBXTS1100
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Hardware
Components
Contd.
Software
Components
Pos.
amt.
5.1
5.2
5.3
5.4
5.5
5.6
1
1
2
1
2
0
5.7
1
6.1
6.2
6
1
6.3
12
6.4
1
6.5
1
Description
Part Number
PC – HMI programming cable
Modbus Hub
Modbus Cable (3,0 m) 2xRJ45
Modbus T-junction with cable (0,3m)
Terminal resistor
PC - Advantys STB programming
cable (supplied with software)
Connection cable set for Altivar31,
71 and Lexium05
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
CANopen connector for
ATV71/CANopen master
CANopen connector for
Advantys STB
XBTZG935
LU9GC3
VW3A8306R30
VW3A8306TF03
VW3A8306RC
STBXCA4002
VW3A8106
VW3CANTAP2
TSXCANCA50
VW3CANCARR1
TSXCAN
KCDF180T
TSXCAN
KCDF90TP
Pos.
Amt.
Description
Part Number
1.1
1
See note 1)
1.2
1
PS1131 PLC programming software
with CoDeSys
Vijeo Designer for HMI
1.3
1
1.4
1
1.5
1
1.6
1
Advantys Configuration Software
incl. RS232 connection cable
PowerSuite parameterization
software
PowerSuite LXM05 Launch
parameterization software
PowerSuite ATV71 Launch
parameterization software
Rev./
Vers.
Rev./
Vers.
V2.30
VJDSSDTGSV4
3M
STBSPU1000
V4.30
VW3A8104
V2.30
Launch version
supplied with
LXM05
Launch version
supplied with
ATV71
V2.20
V2.00
V2.20
Note:
1) The part number will be announced at the special training course focusing on the
programmable Controller Inside card.
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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
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In the Field
IP55/IP65
Frontside
IP65
Cabinet
IP20
X
X
X
X
X
X
X
X
X
X
X
X
X
X
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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
Slimline design
Phaseo power supply unit: ABL7RE2405
•
•
•
•
•
100 to 240 V AC/24 V DC
5 A secondary, other ratings also possible
Slimline design
Parallel connection possible
Short-circuit-proof and protected against overload
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 torque: 2.12/5.63/1.6 Nm
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
USB 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
Product 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
Other 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)
Application 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
• Online 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
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