Altivar ATV-IMC. Drive Controller VW3A3521S0

Altivar ATV-IMC. Drive Controller VW3A3521S0
Altivar ATV-IMC
Drive Controller
VW3A3521S0
Hardware Guide
S1A10252
01/2010
www.schneider-electric.com
The information provided in this documentation contains general descriptions
and/or technical characteristics of the performance of the products contained herein.
This documentation is not intended as a substitute for and is not to be used for
determining suitability or reliability of these products for specific user applications. It
is the duty of any such user or integrator to perform the appropriate and complete
risk analysis, evaluation and testing of the products with respect to the relevant
specific application or use thereof. Neither Schneider Electric nor any of its affiliates
or subsidiaries shall be responsible or liable for misuse of the information contained
herein. If you have any suggestions for improvements or amendments or have found
errors in this publication, please notify us.
No part of this document may be reproduced in any form or by any means, electronic
or mechanical, including photocopying, without express written permission of
Schneider Electric.
All pertinent state, regional, and local safety regulations must be observed when
installing and using this product. For reasons of safety and to help ensure
compliance with documented system data, only the manufacturer should perform repairs to components.
When devices are used for applications with technical safety requirements, the
relevant instructions must be followed.
Failure to use Schneider Electric software or approved software with our hardware
products may result in injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
© 2010 Schneider Electric. All rights reserved.
2
S1A10252 01/2010
Table of Contents
Chapter 1
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
About the ATV-IMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
About IMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Chapter 2
Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Installation and Maintenance Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
First Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Internal Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Mounting the Card in the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Configurations Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Chapter 3
Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Terminals of the Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
DC Power Supply Wiring and Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
I/O Wiring and Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Chapter 4
Connecting to a PC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Connecting the IMC Card to a PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Chapter 5
Communication Connections . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Ethernet Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
CANopen® Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Chapter 6
Configuration Using ATV Display . . . . . . . . . . . . . . . . . . . . . . . 45
First Start Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Card Changed / Removed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Chapter 7
ATV-IMC Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Diagnostic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
ATV-IMC Drive Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Warm / Cold Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Inputs Management. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Outputs Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Tasks Management. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Freewheeling Task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Cyclic Task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Event Task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
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3
Watchdog Mechanisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .70
Chapter 8
Fast Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71
HSC Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72
HSC Simple Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74
HSC Main Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75
Chapter 9
ATV-IMC Performances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77
Performances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .78
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Safety Information
Important Information
NOTICE
Read these instructions carefully, and look at the equipment to become familiar with
the device before trying to install, operate, or maintain it. The following special messages may appear throughout this documentation or on the equipment to warn of
potential hazards or to call attention to information that clarifies or simplifies a procedure.
The addition of this symbol to a Danger or Warning safety label indicates
that an electrical hazard exists, which will result in personal injury if the
instructions are not followed.
This is the safety alert symbol. It is used to alert you to potential personal
injury hazards. Obey all safety messages that follow this symbol to avoid
possible injury or death.
DANGER
DANGER indicates an imminently hazardous situation, which, if not avoided, will
result in death or serious injury.
WARNING
WARNING indicates a potentially hazardous situation, which, if not avoided, can
result in death, serious injury or equipment damage.
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CAUTION
CAUTION indicates a potentially hazardous situation, which, if not avoided, can
result in injury or equipment damage.
CAUTION
CAUTION, used without the safety alert symbol, indicates a potentially hazardous
situation which, if not avoided, can result in equipment damage.
PLEASE NOTE
The word "drive" as used in this manual refers to the controller portion of the adjustable speed drive as defined by NEC.
Electrical equipment should be installed, operated, serviced, and maintained only by
qualified personnel. No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this product.
© 2010 Schneider Electric. All Rights Reserved.
6
S1A10252 01/2010
About the Book
At a Glance
Document Scope
The purpose of this document is to:
p
p
p
p
show you how to install and operate your Integrated Machine Controller,
show you how to connect the card to a programming device equipped with
SoMachine software,
help you understand how to interface the card with I/O modules and other devices,
help you become familiar with the card features.
NOTE: Read and understand this document and all related documents (see below)
before installing, operating, or maintaining your IMC.
The new users should read through the entire document to understand all features.
Validity Note
This documentation is valid for the Integrated Machine Controller.
Related Documents
Title of Documentation
Reference Number
ATV-IMC programming manual
EIO0000000390
Altivar 71 - Installation manual
1755855
Altivar 71 - Programming manual
1755843
User Comments
We welcome your comments about this document. You can reach us by e-mail at
[email protected]
S1A10252 01/2010
7
8
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About the ATV-IMC
1
What in this Chapter ?
This chapter contains the following topics:
Topic
About IMC
S1A10252 01/2010
Page
10
9
About the ATV/IMC
About IMC
Introduction
The Drive Controller (ATV-IMC: Integrated Machine Controller) is used to adapt the
variable speed drive to specific applications by integrating control system functions.
Various predefined configurable applications are sold by Schneider Electric and its
partners. SoMachine is a professional, efficient and open OEM software solution
that develops, configures and commissions the entire machine in a single environment (including logic, motor control, HMI and related network automation functions).
SoMachine allows you to program and commission the entire range of elements in
Schneider Electric’s Flexible Machine Control that helps you to achieve an optimized
control solution for each machine’s requirements.
Only one ATV-IMC programmable card can be installed in the Altivar 61 or the Altivar
71 drive. It can be combined with another option card
(I/O extension or communication). ATV-IMC option card can not be used in combination with an ATV-IMC option card.
The ATV-IMC programmable card has:
p
p
p
p
p
p
p
10 logic inputs
2 analog inputs
6 logic outputs
2 analog outputs
A master port for the CANopen® bus
A mini-USB B port for programming with SoMachine software
An Ethernet port to be used for programming with SoMachine software or ModbusTCP communication.
The ATV-IMC programmable card can also use:
p
p
p
p
p
10
The drive I/O
The I/O extension card (I/O basic and I/O extended)
The encoder interface card points counter
The drive parameters (speed, current, torque, etc)
The drive remote keypad (as application HMI).
S1A10252 01/2010
About the ATV/IMC
Physical Description
1
Ethernet port used for programming with
SoMachine and for Modbus TCP communication.
2
mini-USB B port used for programming
with SoMachine.
3
9-pin male SUB-D connector for connection to the CANopen® bus.
4
Connector with removable screw terminals, 3 contacts intervals of 3.81 mm (0.15
in.) for the 24 Vdc power supply.
5
10 logic inputs, 6 logic outputs, 2 analog
inputs, 2 analog outputs
and 5 commons.
6
Block of 4 configuration switches.
7
5 LEDs, comprising:
-
1 LED G/Y ETH (EtherNet activity)
1 LED G/R NS (Network Status)
1 LED G/R MS (Module Status)
1 LED G/R CAN (CANopen®)
1 LED G/R USER programmable from
the customer
ATV-IMC Drive Controller Range
Power
Current consumption
Internal battery
Voltage
24 (min. 19, max. 30)
Vdc
Maximum
2
A
No-load
80
mA
Using logic output
200 maximum (1)
mA
Life
12
Years
(1) If the logic output power consumption does not exceed 200 mA, this card can be powered by the drive.
Otherwise, an external 24 Vdc power supply must be used and must be able to provide 2 A.
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11
About the ATV/IMC
Compiled program
(saved in “flash” memory)
Data
Maximum size
Mbytes
2
Maximum size
Mbytes
1
Saved size (NVRAM)
Kbytes
64
Size accessible by Modbus
Word
60000
Associated Drive Reference
Altivar 61 or Altivar 71
SoMachine
In order to program the ATV-IMC card SoMachine software tool is required (programming cable: TCS XCN AM UM 3P).
The software tool can be connected to the ATV-IMC by mini-USB cable (Mini-B cable) or by Ethernet cable (490NTW000·· cable). In factory settings mode, the ATVIMC card only contains the clock function.
For other applications, the program must be loaded:
p
p
By loading an existing program
Or by loading a custom-built program, with the aid of the SoMachine software, using the function libraries dedicated to programming the ATV-IMC card.
The standard function library contains:
p
p
p
p
p
Logic functions (AND, OR, etc)
Mathematical functions (Cos, Sin, Exp, etc)
Functions dedicated to drives which simplify data exchanges between the drive
and the ATV-IMC programmable card (example: sending the speed reference)
Functions for managing the CANopen® bus
Graphic terminal display functions.
This manual does not describe programming using SoMachine, see ATV-IMC programming manual on www.schneider-electric.com.
12
S1A10252 01/2010
About the ATV/IMC
Communication Features
3 kinds of ports existing, which are:
p
p
p
Ethernet port
CANopen port
USB port.
Fast I/O Functions (HSC)
See Fast Inputs chapter.
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13
About the ATV/IMC
14
S1A10252 01/2010
Installation
2
What in this Chapter ?
This chapter contains the following topics:
Topic
S1A10252 01/2010
Page
Installation and Maintenance Requirements
16
First Startup
19
Internal Battery
20
Mounting the Card in the Drive
21
Configurations Switches
24
15
Installation
Installation and Maintenance Requirements
Before Starting
Read and understand these instructions before performing any procedure
with the drive
WARNING
UNEXPECTED EQUIPMENT OPERATION
• Read and understand this manual before installing or operating the drive.
• Any changes made to the parameter settings must be performed by qualified
personnel.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.
16
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Installation
Disconnect Drive Power
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
• Read and understand this manual before installing or operating the drive.
Installation, adjustment, repair, and maintenance must be performed by qualified
personnel.
• The user is responsible for compliance with all international and national
electrical code requirements with respect to grounding of all equipment.
• Many parts of this drive, including the printed circuit boards, operate at the line
voltage. DO NOT TOUCH. Use only electrically insulated tools.
• DO NOT touch unshielded components or terminal strip screw connections with
voltage present.
• DO NOT short across terminals PA/+ and PC/– or across the DC bus capacitors.
• Before servicing the drive:
- Disconnect all power, including external control power that may be
present.
- Place a “DO NOT TURN ON” label on all power disconnects.
- Lock all power disconnects in the open position.
- WAIT 15 MINUTES to allow the DC bus capacitors to discharge.
- Measure the voltage of the DC bus between the PA/+ and PC/– terminals
to ensure that the voltage is less than 42 Vdc.
- If the DC bus capacitors do not discharge completely, contact your local
Schneider Electric representative. Do not repair or operate the drive.
• Install and close all covers before applying power or starting and stopping the
drive.
Failure to follow these instructions will result in death or serious injury.
Note: The DC bus voltage can exceed 1000 Vdc. Use a properly rated voltage-sensing device when performing this procedure. To measure the DC bus voltage
Operating Environment
WARNING
DAMAGED DRIVE EQUIPMENT
Do not operate or install any drive or drive accessory that appears damaged.
Failure to follow these instructions can result in death or serious injury.
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17
Installation
WARNING
LOSS OF CONTROL
• The designer of any control scheme must
- consider the potential failure modes of control paths and, for certain critical
control functions,
- provide a means to achieve a safe state during and after a path failure.
Examples of critical control functions are emergency stop and overtravel stop.
• Separate or redundant control paths must be provided for critical control
functions.
• Each implementation of a control system must be individually and thoroughly
tested for proper operation before being placed into service.
• System control paths may include communication links. Consideration must be
given to the implications of unanticipated transmission delays or failures of the
link (1)
Failure to follow these instructions can result in death or serious injury.
(1) : For additional information, refer to NEMA ICS 1.1 (latest edition), Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control.
18
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Installation
First Startup
Introduction
This procedure will help you through the first installation and start up of your device.
Startup Procedure
Step
Action
Comment
1
Check that the card catalog number
marked on the label is the same as on
the delivery note corresponding to the
purchase order
2
Remove the option card from its
packaging and check that it has not
been damaged in transit
3
Check that the product is complete: the
packaging should contain the ATV-IMC
option card and a removable terminal
4
Please, follow the procedure described on Mounting Procedure (page 21) to mount the card in
the drive
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19
Installation
Internal Battery
Introduction
In the event of a power outage, the internal battery will retain the internal clock.
Internal Battery
A clock backed up by a lithium battery makes it possible to have a log of events that
have occurred.
When the ATV-IMC programmable card is installed in the drive, events can be time
and date-stamped, see programming manual.
The date and time need to be set on receipt of the Integrated Machine Controller
card, or after replacing its lithium battery.
When connected to the configuration software tool (SoMachine) the ATV-IMC clock
can be synchronized with the PC clock.
The date and time on this clock are checked and set from a special sub-menu in the
[1.14 - C Inside] (PLC) customizable menu in the graphic display terminal.
DANGER
EXPLOSION, FIRE, OR CHEMICAL HAZARD
Follow these instructions for the Lithium batteries:
• Do not recharge, disassemble, heat above 100 °C (212 °F), or incinerate.
• Contact Schneider Electric support to replace the internal battery.
Failure to follow these instructions will result in death or serious injury.
20
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Installation
Mounting the Card in the Drive
Mounting Procedure
Note: If an ATV-IMC card and an I/O extension card are installed simultaneously:
p
p
The I/O extension card must be installed on the drive first
Then the ATV-IMC must be installed on the I/O extension card.
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
• Read and understand this manual before installing or operating the drive.
Installation, adjustment, repair, and maintenance must be performed by qualified
personnel.
• The user is responsible for compliance with all international and national
electrical code requirements with respect to grounding of all equipment.
• Many parts of this drive, including the printed circuit boards, operate at the line
voltage. DO NOT TOUCH. Use only electrically insulated tools.
• DO NOT touch unshielded components or terminal strip screw connections with
voltage present.
• DO NOT short across terminals PA/+ and PC/– or across the DC bus capacitors.
• Before servicing the drive:
- Disconnect all power, including external control power that may be
present.
- Place a “DO NOT TURN ON” label on all power disconnects.
- Lock all power disconnects in the open position.
- WAIT 15 MINUTES to allow the DC bus capacitors to discharge.
- Measure the voltage of the DC bus between the PA/+ and PC/– terminals
to ensure that the voltage is less than 42 Vdc.
- If the DC bus capacitors do not discharge completely, contact your local
Schneider Electric representative. Do not repair or operate the drive.
• Install and close all covers before applying power or starting and stopping the
drive.
Failure to follow these instructions will result in death or serious injury.
CAUTION
RISK OF DAMAGE TO THE ATV-IMC
Prior to using it, the ATV-IMC must be plugged into ATV61 or ATV71.
Failure to follow these instructions can result in equipment damage.
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21
Installation
Step
1
2
Comment
-
Using a screwdriver, press down on
the catch and pull to release the
left-hand part of the control front
panel of the drive
3
Do the same on the right-hand side
4
Pivot the control front panel and
remove it
5
22
Action
Disconnect drive power
Install the I/O extension card, if
used
Refer to the I/O extension card instruction sheet
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Installation
Step
Action
6
Position the card on the clasps
7
Then pivot it until it clicks into place
8
Comment
Replace the control front panel over
the card
(same procedure as for installing
the option card, see 5 and 6)
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23
Installation
Configurations Switches
Introduction
The ATV-IMC card has a block of 4 switches as illustrated below:
These switches can only be set when
the drive and the ATV-IMC card are
turned off, since it is necessary to
remove the drive control front panel in
order to access it.
By default, the switches are in the Off
position.
24
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Installation
Programmable Switches
The 4 switches can be used by the ATV-IMC card program, depending on the application.
Switches
Value
Switches
Value
Switches
Value
Switches
Value
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
To read these switches, see function block (Get_Dipswitch) in the on-line help of library ATV_IMC_SysLib_V2_3.
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Installation
26
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Wiring
3
What in this Chapter ?
This chapter contains the following topics:
Topic
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Page
Terminals of the Card
28
DC Power Supply Wiring and Characteristics
29
I/O Wiring and Characteristics
30
27
Wiring
Terminals of the Card
The following figures describes the different terminals of the card:
Analog out
Analog in
Logic
Inputs
Logic
Outputs
28
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Wiring
DC Power Supply Wiring and Characteristics
24 Vdc Terminal
Power supply for the ATV-IMC card, logic outputs and analog outputs.
If allowed by the power consumption table (for example if outputs are not being
used), the ATV-IMC card can be powered by the 24 Vdc power supply in the drive.
If you are using an external power supply: Catalog number for a Schneider Electric
power supply ABL8REM24030 (24Vdc, 3A).
COM Terminal
Common ground and electrical 0 V of the ATV-IMC card power supply, logic inputs,
(LIpp), outputs (LOpp), analog inputs (AIpp) and analog outputs (AOpp).
This ground and electrical 0 V are common with the drive ground and electrical 0 V.
There is therefore no point in connecting this terminal to the 0 V terminal on the drive
control terminals.
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29
Wiring
I/O Wiring and Characteristics
Ground Shielded Cable Connection
In order to maintain a high level of resistance to electromagnetic interference, the
use of shielded cables is required for Fast inputs.
To improve Electromagnetic Compatibility (EMC), use shielded cables for all inputs
and outputs.
WARNING
UNEXPECTED EQUIPMENT OPERATION
• Connect all fast inputs with shielded cables.
• Properly ground the cable shields as indicated in this documentation.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.
30
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Wiring
I/O Characteristics
The following table describes the characteristics of the I/O:
Analog inputs
Analog outputs
Logic inputs
Logic outputs
I/O connection
AI51, AI52
- 2 current analog inputs 0…20 mA. Connect an
impedance 250 Ω
- Or 2 voltage analog inputs 0...5 V
Resolution: 10 bits. Current and voltage configurable by library.
Accuracy: ± 1% for a temperature variation of 60°C (140°F)
Linearity: ± 0.4% of the maximum value
Common point for the card I/O (1)
AO51, AO52
2 current analog outputs 0…20 mA, impedance 500 Ω
Resolution: 10 bits
Accuracy: ± 1% for a temperature variation of 60°C (140°F)
Linearity: ± 0.2% of the maximum value
Common point for the card I/O (1)
LI51…LI60
10 24 Vdc logic inputs:
- Inputs LI51 and LI59 can be configured as single phase
counter.
- Inputs LI51 and LI52 can be configured for an
incremental encoder (channel A = LI51, channel B = LI52).
- Inputs LI59 and LI60 can be configured for an
incremental encoder (channel A = LI59, channel B =LI60).
Maximum voltage: 30 Vdc. Impedance 4.4 kΩ
Switching thresholds:
- State 0 if y 5 V or logic input not wired
- State 1 if u 11 V
Common point for the card I/O (1)
LO51…LO56
Six 24 Vdc logic outputs, positive logic, compatible with level
1 PLC, standard IEC 65A-68
Maximum switching voltage: 30 V
Maximum current: 200 mA maximum for logic outputs
without external +24Vdc power supply.
With +24Vdc power supply, the maximum is 200mA for
each logic output.
Common point for the card I/O (1)
Type of contact
Screw, at intervals of 3.81 mm (0.15 in.)
Maximum wire
1.5 mm² (16 AWG)
Tightening torque
0.25 Nm (2.21 lb-in)
(1) This common point is also the drive 0 V (COM).
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31
Wiring
Logic inputs LI51…LI60 wiring
The following graphic describes the shielded twisted pair:
Signal
Shield connected
to drive
Ground
32
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Wiring
I/O Wiring Diagram
Only if the power consumption is less than 200 mA; otherwise use an external power
supply. When drive power supply is used and the logical output consumption exceeds 200 mA the card will cut out the logical output.
Current diagram
Voltage diagram
Card powered by
external power
supply
2A fast-blow fuse
for power supply
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33
Wiring
34
S1A10252 01/2010
Connecting to a PC
4
What in this Chapter ?
This chapter contains the following topics:
Topic
Connecting the IMC Card to a PC
S1A10252 01/2010
Page
36
35
Connecting to a PC
Connecting the IMC Card to a PC
Introduction
The ATV-IMC card can be connected to the PC using two different ways, by Ethernet connection or by mini-USB cable.
The default IP address for the card is derived from its hardware MAC address.
Connecting Through Ethernet
The following drawing describes the Ethernet connection:
For more information about Ethernet, please read Ethernet Connection page 40.
36
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Connecting to a PC
The following drawing describes the Ethernet connection with a HUB:
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37
Connecting to a PC
Connecting Through USB
The following drawing describes the Mini USB connection:
CAUTION
RISK OF EQUIPMENT DAMAGE
p
In case of high power drive, the PC must be disconnected from the ground
Ensure ground connection between the drive and motor to avoid
communication perturbation with the USB link.
Failure to follow these instructions can result in equipment damage.
p
Note: High Power Drive références are ATV71H•••N4 or ATV61H•••N4 u 90 kW
(125HP) and ATV71H•••Y or ATV61H•••Y u 110 kW (150HP).
38
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Communication Connections
5
What in this Chapter ?
This chapter contains the following topics:
Topic
Ethernet Connection
40
®
42
CANopen Connection
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39
Communication Connections
Ethernet Connection
Ethernet Capabilities
In order to be able to communicate via Ethernet, the ATV-IMC card includes, as
standard, a link.
This port allows to communicate according to 2 protocols:
p
p
Programming, for link with a PC (equipped with SoMachine Software).
TCP/Modbus, in order to meet the needs of master/slave architectures with Schneider Electric or third party devices.
Ethernet Connector Diagram
Pin
40
Description
1
TD+
2
TD-
3
RD+
4
-
5
-
6
RD-
7
-
8
-
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Communication Connections
- Address Format
IP address by default is 0.0.0.0 used as 10.10.x.x:
10.10: a fixed value
x: The last two fields in the default IP address are composed of the decimal.
equivalents of the last two hexadecimal bytes in the MAC address of the card. The
MAC address of the card can be retrieved on the card label placed on the internal
right side of the card.
The Default Subnet Mask must be the Default Class A Subnet Mask of 255.0.0.0.
- Example
For example, with the MAC address of 00-80-F4-DA-01-C4, you are concerned only
with the last two bytes, 01-C4. Convert these bytes from hexadecimal to decimal.
See the procedure below if you don’t know how to do this.
The hexadecimal values 01, and C4 have corresponding decimal values of 1, and
196, respectively.
These values are combined with the default IP address format (85.16.x.x) to yield a
default IP address of 10.10.1.196.
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41
Communication Connections
CANopen® Connection
CANopen® Capabilities
Connector
One 9-pin male SUB-D connector
Network management
Master 10
Transmission speed
Configurable via the program:
20 kbps, 50 kbps, 125 kbps, 250 kbps, 500 kbps, 800
kbps, 1 Mbps
Address (Node ID)
16 slaves maximum
CANopen® application layer
DS 301 V4.02
Channel config
DSP 405
PDO
32 PDOs Tx, 32 PDOs Rx
SDO
2 client SDOs per slave (1 read and 1 write). Block transfer
Error check
Node Guarding, producer and consumer Heartbeat
Other services
Emergency, Boot-up, Sync
Configuration
The CANopen® network configurator is integrated in the
SoMachine software workshop
Using LED
1 LED: “RUN” / “ ERROR”, conforming to CIA® DR303
version 1.0
Structure
Services
Diagnostics
CANopen® Connector Diagram
Use a straight connector (catalog number TSX CAN KCDF 180T) to connect the
ATV-IMC card to the CANopen® bus.
This connector integrates a line terminator that must be activated if the ATV-IMC
card is at one end of the CANopen® bus.
It is not possible to use an angled connector because of the terminals located to the
right of the CANopen® connector.
The 9-pin SUB-D connector on the ATV-IMC card is linked to the card ground and
42
S1A10252 01/2010
Communication Connections
the drive ground. The shielding must be connected to the connector ground.
The CANopen® signals on the ATV-IMC card are isolated.
Pin
Description
1
not connected
2
CAN_L
3
CAN_GND
4
not connected
5
not connected
6
CAN_GND
7
CAN_H
8
not connected
9
not connected
Cable Length
It is essential to make sure that all devices connected to the CANopen® bus operate
at the same transmission speed.
The CANopen® transmission speed of the ATV-IMC card is configured from the
SoMachine software workshop.
The maximum length of the CANopen® bus depends on the transmission speed on
this bus.
The table below indicates the maximum lengths permitted according to the transmission speed:
Transmission speed
20 kbps
50 kbps
125 kbps
250 kbps
500 kbps
800 kbps
1 Mbps
Max. length of bus
2500 m
(8202 ft)
1000 m
(3280 ft)
500 m
(1640 ft)
200 m
(656 ft)
100 m
(328 ft)
40 m
(131 ft)
5m
(16 ft)
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43
Communication Connections
44
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Configuration Using ATV Display
6
What in this Chapter ?
This chapter contains the following topics:
Topic
S1A10252 01/2010
Page
First Start Configuration
46
Card Changed / Removed
50
45
Configuration using ATV Display
First Start Configuration
A Menu
RDY
RDY
Term +0.00Hz
MAIN MENU
1 DRIVE MENU
2 ACCESS LEVEL
3 OPEN / SAVE AS
4 PASSWORD
5 LANGUAGE
Code
0A
ENT
Quick
Term +0.00Hz
0A
1 DRIVE MENU
1.1 SIMPLY START
1.2 MONITORING
1.3 SETTINGS
1.4 MOTOR CONTROL
1.5 INPUTS/OUTPUTS CFG
Code
<<
>>
Quick
1.6 COMMAND
1.7 APPLICATION FUNCT.
1.8 FAULT MANAGEMENT
1.9 COMMUNICATION
1.10 DIAGNOSTICS
1.11 IDENTIFICATION
1.12 FACTORY SETTINGS
1.13 USER MENU
1.14 C Inside
NST
ENT
CAN
0.0Hz
1.14 C Inside
Modbus add Prg C.
DATE/TIME SETTINGS
Code
<<
>>
0.0A
: 17
Quick
ATV-IMC Card Modbus Address
The [Modbus add Prg C.] (AMOA) parameter can be set in the [1.14 C Inside] (PLC)
menu.
This setting can also be accessed in the [1.9 - COMMUNICATION] (COM-) menu,
[MODBUS NETWORK] (Md1-) submenu.
Setting the date and time
In the [1.14 C Inside] menu, [DATE/TIME SETTINGS] sub-menu, you can set:
p
p
p
p
p
46
the year
the month
the day
the hours
the minutes
S1A10252 01/2010
Configuration using ATV Display
NST
CAN
0.00Hz
0.0A
DATE/TIME SETTINGS
10 : 42
Hour
Minutes
Month
Day
Year
11 / 03 / 2005
<<
>>
Quick
Note: The date and time are not refreshed on this settings screen. The current date
and time [Date/Time] (CLO) can be viewed in the [1.2 MONITORING] (SUP-)
menu.
Note: It is not possible to change either the date or time format:
p
p
The date cannot be displayed in the "year/month/day" format.
The time cannot be displayed in the "10:42 am" format.
Note: It is not possible to configure changes between winter and summer hours.
Example of a Special Program
The name of menu 1.14 has been customized.
The application parameters are edited in plain text.
S1A10252 01/2010
47
Configuration using ATV Display
CYCLE IN PROGRESS
Current cycle
: 5
Current phase
: 2
Operation
: dosing
Product
: oil
Duration
: 30 s
RUN
APP
+50.0 Hz
2.1 A
1.14 DOSING
SETTINGS
Cycle selected
: 10
No. of phases
: 6
Phase selected
: 2
Operation sel
: mixing
CYCLE IN PROGRESS
Current cycle
: 5
Current phase
: 2
Operation
: dosing
Product
: oil
Code
<<
>>
Quick
CYCLE IN PROGRESS
Current cycle
: 5
Current phase
: 2
Operation
: dosing
Product
: oil
Duration
: 30 s
SETTINGS
Cycle selected
: 10
No. of phases
: 6
Phase selected
: 2
Operation sel
: mixing
48
RUN
APP
+50.0 Hz
2.1 A
1.14 DOSING
SETTINGS
Cycle selected
: 10
No. of phases
: 6
Phase selected
: 2
Operation sel
: mixing
Code
<<
>>
Quick
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Configuration using ATV Display
ATV-IMC Menu of the Drive
From the drive display terminal is possible to access a dedicated programmable
card submenu:
Power-up
Displays the state of the drive
C Inside
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Configuration using ATV Display
Card Changed / Removed
Option Card Changed or Removed
When an option card is removed or replaced by another, the drive locks in [Incorrect
config.] (CFF) mode on power-up.
If the card has been deliberately changed or removed, this can be cleared by pressing the ENT key twice, which causes the factory settings to be restored for the
parameter groups affected by the card.
These are as follows:
p
p
ATV-IMC card replaced by a card of the same type: [1.14 - C Inside] (PLC)
ATV-IMC card removed (or replaced by a different type of card): [Drive menu]
(drM) and [1.14 - C Inside] (PLC).
ATV-IMC Card Modbus Address
WARNING
UNEXPECTED EQUIPMENT OPERATION
• Be sure that there is only one master controller configured on the network or
remote link.
• Be sure that all slaves devices have unique addresses such that two or more
slaves do not have the same address.
Failure to follow these instructions can result in death or serious injury.
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ATV-IMC Operations
7
What in this Chapter ?
This chapter contains the following topics:
Topic
S1A10252 01/2010
Page
Diagnostic
52
ATV-IMC Drive Controller
56
Warm / Cold Start
60
Inputs Management
61
Outputs Management
62
Tasks Management
63
Freewheeling Task
64
Cyclic Task
66
Event Task
68
Watchdog Mechanisms
70
51
ATV-IMC Operations
Diagnostic
LED
The ATV-IMC card is equipped with five LEDs which can be seen through the window in the Altivar cover.
G/Y ETH (Ethernet activity)
G/R NS (Network Status)
G/R MS (Module Status) RUN/STOP
G/R CAN (CANopen®) RUN/ERROR
G/R USER
Led
State
Meaning
G/Y ETH
Off
No link
Flashing Green/
yellow
Power up testing. Power up testing. Flashing 3 times
Green On
Link at 100 Mbps
Yellow On
Link at 10 Mbps
Green flash
Activity at 100 Mbps
Yellow flash
Activity at 10 Mbps
52
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ATV-IMC Operations
Led
G/R NS
G/R MS
RUN/STOP
G/R CAN
RUN/ERROR
G/R USER
S1A10252 01/2010
State
Meaning
Off
The device does not have an IP address or powered off
Flashing Green/
red
Power up testing. Flashing 3 times
Green On
The device has at least one established connection (even to the Message
Router)
Green flashing
The device has not established connections, but has obtained an IP
address
Red flashing
One or more of the connections in which this device is the target has
timed out. This LED will remain flashing until all time out connections are
reestablished or if the device is reset
Red On
The device has detected that its IP address is already in use
Off
No power is supplied to the device
Flashing Green/
red
Power Up testing. Flashing 3 times
Green On
The device is operating correctly
Green flashing
The device has not been configured
Red flashing
The device has detected a recoverable event
Red On
The device has detected a non-recoverable event
®
CANopen RUN
/ green off
CANopen® master in STOPPED state
CANopen® RUN
/ flashing
CANopen® master in PRE-OPERATIONAL state
CANopen® RUN
/ on
CANopen® master in OPERATIONAL state
CANopen®
ERROR / 1 flash
per second
The CANopen® master error counter has reached or exceeded its
warning level (too many detected errors)
CANopen®
ERROR / 2
flashes per
second
Node Guarding error (vis-à-vis a CANopen® slave) or Heartbeat error
(CANopen® master acting as consumer)
CANopen®
ERROR / on
The CANopen® master is in the "OFF" state
Defined by the
user
-
53
ATV-IMC Operations
ATV Display
The values of the ATV-IMC card logic and analog I/O can be displayed on the graphic display terminal: [1.2 - MONITORING] (SUP-) menu, [Controller Inside I/O MAP]
sub-menu.
RUN
Term
+50.00Hz 80A
Controller Inside I/O MAP
C. INSIDE CARD LI MAP
Controller inside AI MAP
C. INSIDE CARD LO MAP
Controller inside AO MAP
Code
Quick
state 0
RUN
state 1
LI51 LI52 LI53 LI54 LI55 LI56 LI57
LI58
Move from one screen to
another (from C. INSIDE
CARD LI MAP
to Controller inside AO
MAP)
by turning the navigation
button
Term
+50.00Hz 80A
C. INSIDE CARD LI MAP
1
0
LI59 LI60
1
0
<<
RUN
>>
Quick
Term
+50.00Hz 80A
Controller inside AI MAP
:
0.000 mA
:
9.87 V
AI51
AI52
RUN
Term
+50.00Hz
AI51
80A
ENT
0 mA
Min = 0.001
Code
state 0
RUN
state 1
1
0
<<
>>
Quick
<<
Max = 20,000
>>
Quick
Term
+50.00Hz 80A
C. INSIDE CARD LO MAP
LO51 LO52 LO53 LO54 LO55 LO56
<<
>>
Quick
RUN
Term
+50.00Hz 80A
Controller inside AO MAP
AO51
:
0.000 mA
AO52
:
9.87 V
RUN
Term
ENT
+50.00Hz
AO51
80A
0 mA
Min = 0.001
Code
54
<<
>>
Quick
<<
Max = 20,000
>>
Quick
S1A10252 01/2010
ATV-IMC Operations
Note: The addresses of the parameters mentioned above are given in the "Communication parameters manual".
Event Monitoring
[internal com. link] (ILF) is displayed when:
p
p
There is a detected hardware fault
A communication interruption occurs between the ATM-IMC card and the drive
The drive behavior cannot be configured when [internal com. link] (ILF) is displayed.
The drive performs a freewheel stop. This can only be reset by performing a power
reset on the drive.
Two diagnostic parameters can be used to obtain more detailed information on the
cause of [internal com. link] (ILF):
p
[Internal link fault 1] (ILF1) indicates option card no. 1 (installed directly on the
drive).
p [Internal link fault 2] (ILF2) indicates option card no. 2 (installed directly on the
drive).
The ATV-IMC card can be in position 1 or in position 2.
Parameters [Internal link fault 1] (ILF1) and [Internal link fault 2] (ILF2) can only be
accessed on the graphic display terminal, in the [1.10 DIAGNOSTICS] (DGT-),
[MORE FAULT INFO] (AFI-) menu.
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ATV-IMC Operations
ATV-IMC Drive Controller
State Diagram
The following state diagram shows the controller states and transitions and the corresponding system LED states.
RUN
Power Off
Any State
RUN
ERR (3 blinks)
Internal
Error
detected
RUN
ERR (3 blinks)
No Application
ERR
RUN
ERR (3 blinks)
Invalid
Firmware
Booting
Checksum
valid
No application
Checksum invalid
RUN
ERR
Checksum valid
Application boot
Application
download
RUN (3 blinks)
ERR or
STOP
ERR (Slow blinks)
RUN
ERR or
ERR (Slow blinks)
RUN
Blinking
ON (Regular Blinks)
OFF
EXCEPTION
RUN (3 blinks)
ERR
Booting
The ATV-IMC first executes the boot sequence. It performs a checksum of the
firmware. If the checksum is valid, the controller can start.
Otherwise, the ERR LED blinks to indicate that the firmware is invalid.
If the firmware is invalid, a firmware upgrade is required before the device can be
used.
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ATV-IMC Operations
RUN
The ATV-IMC executes the application, updates the I/Os.
In this state:
p
p
The RUN LED is ON
The ERR LED is OFF or is blinking slowly if the boot application is not yet created
STOP
The program execution is stopped and:
p
p
p
p
p
p
Internal variables are frozen in their current state.
Output images are frozen in their current state.
Embedded and/or expansion physical outputs can be either in Fallback state or
in "Keep current value" state, according to the option you selected in the SoMachine software.
HSC function blocks output values are frozen (The function blocks can no longer
be invoked).
Embedded inputs are refreshed into input images (only if "Update IOs while in
stop" option is selected in SoMachine software).
Expansion bus inputs are refreshed from the expansion modules into input images (only if "Update IOs while in stop" option is selected in SoMachine software).
In this state:
p
p
The RUN LED blinks (500 ms ON, 500 ms OFF)
The ERR LED is OFF or is blinking slowly if the boot application is not yet created
Note:
p
p
p
Situation 1: “Update IOs while in stop” and “Set all outputs to default" selected.
The values defined in "Default value" column of I/O mapping screen is applied to the
outputs. Any write to the output (via Modbus) is not applied to the physical output.
Situation 2: “Update IOs while in stop” and “Keep current values" selected.
The outputs keep the last value set by the program when it was in RUN. Any write
to the output (via Modbus) is not applied to the physical output.
Situation 3: No “Update IOs while in stop”.
The output keeps the last value set by the program when it was in RUN. Any write
to the output (via Modbus) is not applied to the physical output.
No Application
Only an application download allows the ATV-IMC to resume booting.
In this state:
p
p
S1A10252 01/2010
The RUN LED is OFF
The ERR LED blinks (500 ms ON, 500 ms OFF)
57
ATV-IMC Operations
Internal Error
This state is reached from any state when an internal error (firmware exception, infinite loop) is detected. The STOP state conditions are applied automatically.
In this state, only 2 possible actions are allowed:
p
p
Download new application
Power off
In this state:
p
p
The RUN LED is OFF
The ERR LED blinks quickly
EXCEPTION
This state is reached if a watchdog event associated with a task is triggered, or when
a system overload occurs. The STOP state conditions are applied.
When the controller is in Watchdog state, only 3 possible actions are allowed:
p
p
p
Reset
Download new application
Power off
In this state:
p
p
The RUN LED blinks
The ERR LED is ON
HALT ON BREAKPOINT
The application is valid and running, but a task is stopped on a breakpoint, and:
p
p
Outputs are frozen in their current state.
Event tasks are processed, and I/Os are functional.
In this state:
p
p
The RUN LED blinks slowly
The ERR LED is OFF
Boot Application
A Boot Application is a backup copy of the application program that is stored in ATVIMC flash memory. This allows persistent storage of an application program without
the need for battery power.
A Boot Application is automatically saved to flash memory after download.
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ATV-IMC Operations
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1
The ATV-IMC is shipped from the factory without any Boot Application in flash
memory. Therefore, the controller state after first power ON is No Application.
2
Reset Origin erase a Boot Application.
59
ATV-IMC Operations
Warm / Cold Start
Warm start: When power is removed from the controller, the current state of the retained data is stored in memory. The RETAIN keyword is to be used. At the next
power on, the controller application restarts in RUN mode or STOP (depending on
its state at Power OFF), and uses this stored data to return to its previous state.
Cold start: The controller tries to restart with the application that has been backed
up to flash memory.
Note: If there is no application in flash memory, then the controller waits in "no application" state for a new download.
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ATV-IMC Operations
Inputs Management
Introduction
The following functions are configurable on the standard and fast inputs:
p
p
The LI53 and LI54 inputs can be used for events (rising edge, falling edge, or
both) and thus be linked to an event task (up to 2), see Tasks Management
page 63.
For other LI, see HSC Modes page 72.
Event Task
Refer to Event Task page 68.
RUN/STOP
The RUN/STOP function is used to start or stop a program using an input:
p
p
S1A10252 01/2010
When the configured RUN/STOP input is at logic 0, the controller is put into a
STOP state and any SoMachine command to enter the RUN state is ignored.
When the configured RUN/STOP input is at logic 1, then the controller program
is running unless otherwise commanded by SoMachine (RUN/STOP commands
from SoMachine are allowed).
61
ATV-IMC Operations
Outputs Management
Introduction
The ATV-IMC has 6 standard outputs.
Output values can be controlled by the controller application or by using SoMachine
in the Online mode.
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ATV-IMC Operations
Tasks Management
Introduction
The Task Configuration allows defining one or several tasks to control the execution
of an application program.
Task Type
There are 3 different types of task available:
p
p
p
Freewheeling: The task will be executed as soon as the program is started. As
each task completes, the task will be automatically restarted in a continuous loop,
after a delay that is 30%-proportional to the duration of the last task cycle. There
is no cycle time defined but T#: 1...1000 ms.
Cyclic: The task will be executed cyclically according to the period defined.
External Event: The task will be started as soon as the associated variable
(physical fast input) occurs.
Maximum Task Configuration
For the ATV-IMC, you can configure up to 9 tasks with the following restrictions:
p
p
p
1 Freewheeling task maximum,
3 Cyclic tasks maximum,
5 External tasks maximum.
When you add an ATV-IMC to your project, the SoMachine software creates a master task called MAST. The MAST task has a preset priority level of 15 (medium priority). The MAST task is created by default in Cyclic mode and its preset interval time
is 20 ms.The watchdog service is activated by default with a time of 100 ms and a
sensitivity of 1.
Watchdog
For each task a control timer (watchdog) can be configured.
The watchdog is configured using the SoMachine software. To configure the watchdog, you must define two parameters:
p
Time
Sensitivity
When the watchdog is activated, if the execution time is longer than defined in the
Time field then the controller will be stopped and an error will be reported. In this
case, the task is not finished.
p
The Sensitivity field defines the number of times a watchdog overrun can occur before a watchdog event is generated.
Note: If you set sensitivity to 0, the control is disabled as if the watchdog checkblock
was not selected.
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63
ATV-IMC Operations
Freewheeling Task
Introduction
The freewheeling scan time does not have a fixed duration. In freewheeling mode,
each ATV-IMC scan begins when the previous scan has been
completed successfully.
Note: If you configure a watchdog to monitor the performance of your application
program, confirm that the watchdog time exceeds the normal scan time of the
program. The scan time of each task must not exceed the configured watchdog
value. Otherwise you may experience frequent watchdog events, with the result that
the program enters the STOP mode unnecessarily, and that the outputs are forced
to their fallback states.
Operation
The following diagram shows the operating phases of two consecutive scans:
I.P.
%1
Program
Execution
%Q
I.P.
scan n time
%1
Program
Execution
%Q
I.P.
t
scan n+1 time
Cycle Phases Description
Phase
64
Description
I.P.
Internal
Processing
The I.P. phase includes the internal processing, and a
Idle duration.The global duration of I.P. phase is
computed based on the duration of the last cycle: 30 % of
this value. The I.P. phase cannot be shorter than 2 ms.
%1
Inputs
Acquisition
Writes the status of discrete and application-specific
module inputs to the memory.
-
Program
Execution
Runs the application program written by the user.
%Q
Outputs
Update
Writes output bits or words associated with discrete and
application-specific modules.
S1A10252 01/2010
ATV-IMC Operations
Operating Mode
When ATV-IMC is in the RUN mode, the processor carries out:
p
p
p
p
Internal Processing and Idle
Inputs acquisition
Program execution
Outputs update
When ATV-IMC is in the STOP mode, the processor carries out:
p
p
Internal processing
Inputs acquisition
Operating Cycle
Internal
Processing
Acquiring
Inputs
Processing
Program
Updating
Outputs
Check Cycle
The task watchdog, if defined, checks the duration of each cycle.
S1A10252 01/2010
65
ATV-IMC Operations
Cyclic Task
Introduction
The cyclic scan time has a fixed duration (period) specified by the user.
If the current scan time is shorter than the cyclic scan time, the ATV-IMC waits until
the cyclic scan time has elapsed before starting a new scan.
If the current scan time is longer than the cyclic scan time (Watchdog timer, see
page 70), the controller automatically leaves RUN mode and enters STOP mode in
EXCEPTION state.
Operation
The following diagram shows the operating phases of two consecutive scans.
I.P. % I
Program
Execution
% Q I.P.
Scan n time
Period
Waiting
period
I.P. % I
Program
Execution
% Q I.P.
Waiting
period
Scan n + 1 time
Period
Cycle Phases Description
Address
Phase
Description
I.P.
Internal
processing
ATV-IMC (updating current timer values, updating status lights, detecting
The system implicitly manages the communication ports, monitors the
RUN/STOP switches, etc.) and processes requests from SoMachine
(modifications and animation tables).
%I
Inputs Acquisition Writes the status of discrete and application-specific module inputs to the
memory.
-
Program
Execution
Runs the application program written by the user.
%Q
Outputs Update
Writes output bits or words associated with discrete and applicationspecific modules.
66
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ATV-IMC Operations
Operating Mode
When ATV-IMC is in the RUN mode, the processor carries out:
p
Internal processing
Inputs acquisition
p Program execution
p Outputs update
After updating the outputs, a controller in the RUN mode will wait until the defined
MAST task duration has elapsed before beginning the next task.
p
When ATV-IMC is in the STOP mode, the processor carries out:
p
p
Internal processing
Inputs acquisition
Operating Cycle
Starting
the Period
Acquiring
Inputs
RUN
STOP
Processing
Program
Updating
Outputs
Internal
Processing
End of
Period
Check Cycle
If defined, the event processing duration is checked by the task watchdog.
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ATV-IMC Operations
Event Task
Introduction
The event task is triggered by an event. The event can be external (typically the rising edge of an input.
Event Task Trigger
An event task can be triggered by the following events:
p
p
p
a rising/falling or both edge of fast inputs LI53 or LI54
a synchronous event (on_SYNC)
Controller Start (on_start) and controller Stop (on_stop)
Operation
The following timing diagram shows the running phases of the scan time.
Event
MAST Task
Execution
%I
Event Program
Execution
%Q
MAST Task
Execution
Cycle Phases Description
The event interrupts the "mast task" execution. When event operation is done, then
mast task restart.
Address
Phase
Description
%I
Inputs Acquisition Writes the status of discrete and application-specific module inputs to the
memory.
-
Event Program
Execution
%Q
Outputs Updating Writes output bits or words associated with discrete and applicationspecific modules.
Runs the application program written by the user.
Operating Mode
The event task interrupts the MAST task. The ATV-IMC executes the event task application according to defined priorities.
When ATV-IMC is in the RUN mode, the processor carries out:
p
68
Inputs acquisition
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ATV-IMC Operations
p
p
Event Program execution
Outputs update
After the outputs are updated, the ATV-IMC resumes the MAST task.
Note: The event task refreshes the ATV-IMC I/Os used by the event task, but does
not affect the I/Os of expansion modules.
The ATV-IMC does not detect conflicts if one event task changes an output value
set by another task. Therefore, you must design the I/O mapping carefully.
WARNING
UNINTENDED EQUIPMENT OPERATION
Map your I/O so that event tasks do not alter the input images or output values in
an unexpected manner.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.
Similarly, the %I phase of an event task can change inputs image, which are used
by the event task, while they are processed by another task.
Check Cycle
The check cycle is performed by watchdog.
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ATV-IMC Operations
Watchdog Mechanisms
Introduction
There are two types of watchdog:
p
p
Application (configured) watchdog
System watchdog
Application (configured) Watchdogs
Each task cycle can be monitored by a watchdog timer (a maximum duration of the
task cycle). This helps debugging certain application conditions (such as infinite
loops, etc.) and provides a maximal duration for refreshing outputs.
A watchdog can be defined for each task.
If system overload is reached, then the application program detects an Application
Watchdog (see page 63) overflow and enters the STOP state. In this case, the RUN
LED blinks and the ERR LED is ON. The watchdog event is passed to the software
console and identified as an exception with PLC EXCEPTION message. At the
same time, the bottom right corner of the software window turns to red.
System Watchdog
System Overload is reached when the combined user tasks use more than 80% of
system resources. This is computed on a 1 second window, each second.
This system overload mechanism cannot be disabled, so that system tasks can
properly be executed.
If system overload is reached, then the application program detects an Application
Watchdog (see page 63) overflow and enters the STOP state. In this case, the RUN
LED blinks and the ERR LED is ON. The watchdog event is passed to the software
console and identified as an exception with PLC EXCEPTION message. At the
same time, the bottom right corner of the software window turns to red.
System Overload Acknowledge
After a STOP due to watchdog state, you must first issue a reset command (warm
or cold), then the application can be restarted by a start command.
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Fast Inputs
8
What in this Chapter ?
This chapter contains the following topics:
Topic
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Page
HSC Modes
72
HSC Simple Mode
74
HSC Main Modes
75
71
Fast I/O
HSC Modes
Introduction
ATV-IMC implements two High Speed Counters (HSC) : HSC 0 and HSC 1.
High Speed Counter functionalities are divided in two families:
p
p
Simple Mode for basic functions
- Counting down one shot,
- Counting down modulo.
Main Mode for "complex" functions
- Counting one shot,
- Counting modulo,
- Counting up/down free (for quadrature encoder and other speed or position
sensors),
- Event counting,
- Frequency meter.
ATV-IMC has 6 fast inputs and 4 general-purpose logical inputs. Most of all these
inputs can be used for High Speed Counter.
HSC I/O Mapping
The table below shows the availability of the HSC functions according to the inputs :
(1) 100 kHz, 24 V ± 10%
Usage for HSC
Digital input
Fast input
(1)
HSC fast input
HSC general input
LI51
X
X
X
LI52
X
X
X
LI53
X
LI54
X
LI55
LI56
X
LI57
X
LI58
72
LI59
X
X
X
LI60
X
X
X
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Fast I/O
WARNING
UNEXPECTED EQUIPMENT OPERATION
• Connect all fast inputs with shielded cables.
• Properly ground the cable shields as indicated in this documentation.
Failure to follow these instructions can result in death or serious injury, or
equipment damage.
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Fast I/O
HSC Simple Mode
One Shot
The One Shot counter mode allows you to count a predefined number of pulses.
Principle: The counter starts decreasing from a preset value of a synchronization
function. The decrease is made by each pulse applied to the leading edge of the
synchronization input. The counter stops when its current value reaches 0 and the
done bit is set. At this point, the counter current value is not modified by any new
pulses from the input. The counter waits for the next synchronization to restart.
Example: The preset value may be a number of pieces to be packaged and the
output may stop the packaging function or make a light go on.
Modulo
The Modulo Loop counter mode is used for applications for which actions are
repetitive.
Configured in counting down modulo, the counter repeatedly counts from a
user-defined value to 0.
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Fast I/O
HSC Main Modes
One Shot
This mode is the same as the one defined in HSC Simple. The difference is that "Enable" and "Preset" signals can be triggered by hardware inputs and the synchronization (edge configuration) can be configured (rising or falling edge).
Modulo
This mode is the same as the one defined in HSC Simple. The difference is that "Enable" and "Preset" signals can be triggered by hardware inputs and the synchronization (edge configuration) can be configured (rising or falling edge for enable. The
preset is only on rising edge).
Free
The Free Large counter mode is for axis monitoring or labeling where the incoming
position of each part has to be known.
Input Modes:
p
p
"A" is first clock, "B" is second clock, direction is given by signal phase, Z signal
can be used to preset,
- Normal Quadrature X1, X2, X4,
- Reverse Quadrature X1, X2, X4,
"A" is first clock, "B" is direction, Z signal be used to preset.
Event Counting
The Event Counting mode is used to count a sequence of events over a given period
of time.
Principle: The counter assesses the number of pulses applied on the input for a
predefined period of time. The counting register is updated at the end of each period
with the number of events received.
The event counter can be used while the synchronization bit is set to 1. Setting the
bit to one starts the event counting for a predefined time period. The counting restarts at the rising edge or at the falling edge of the synchronization input.
To find out how to configure this mode refer to the SoMachine Online Help.
Frequency Meter
The Frequency Meter mode allows the measurement of an event's frequency,
speed, rate or flow.
Principle: The measured frequency is a mean frequency: number of events in the
time interval converted to number of events per second (Hz).
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Fast I/O
To find out how to configure this mode refer to the SoMachine Online Help.
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ATV-IMC Performances
9
What in this Chapter ?
This chapter contains the following topics:
Topic
Performances
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Page
78
77
ATV-IMC Performances
Performances
Logic Processing
The following table shows logic processing performance for various logical instructions:
IL Instruction Type
Duration for 1000
Instructions
Addition/subtraction/multiplication of INT
350
Addition/subtraction/multiplication of DINT
350
Addition/subtraction/multiplication of REAL
362
Division of REAL
690
Operation on BOOLEAN, e.g. Status:= Status and value
942
LD INT + ST INT
249
LD DINT + ST DINT
248
LD REAL + ST REAL
296
Communication and System Processing Time
The communication processing time varies, depending on the sent/received requests number.
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