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Debugging
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Debugging a step by step axes control program
Chapter 10
Debugging a step by step axes control program
Subject of this chapter
This chapter describes the debugging functions for an axes control channel, in the different modes: stop, direct, manual, automatic. It also describes the diagnostics screen which gives you access to possible errors.
What Is in This Chapter?
This chapter contains the following topics:
Topic
Debugging principles
User interface of the debug screen
Description of the debug screens
Detailed Information on the Debug Screen
Stop Mode (Off)
Direct Mode (Dir Drive)
Manual mode (Man.)
Automatic mode (Auto)
Channel diagnostics
Storage, document and simulation
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Debugging principles
At a Glance
Axes control, being integrated into the Control Expert program, uses the Control Expert debug functions.
Recap of the possibilities offered by Control Expert
Real time display and animation of the program.
For example, in Grafcet language, if you program each movement in a step, it will be easy to know which movement is in progress.
Inserting program breakpoints and execution points: cycle by cycle, network by network or statement by statement.
Accessing animation tables. This allows you to display the status words and bits and control the command bits for the SMOVE. You can also force object bits and block the Grafcet development.
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Application specific debug screen
The Control Expert software also offers you an application specific debug screen specific to the
TSX CFY modules, which gives you access to all necessary information and commands:
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User interface of the debug screen
Accessing the debug screen
You can only access the debug screen if the terminal is in connected mode.
If this is the case, access the debug screen in the following way:
Select the Configuration editor,
Select and confirm (or double click on) the rack position that contains the axes control module,
By default in connected mode, the debug screen is displayed.
Command buttons
The operation of the command buttons
is as follows:
For the on state commands (except JOG commands):
Pressing then releasing the button activates the associated command. The button’s internal light is lit when this command is recognized (the corresponding command bit %Q is set to 1).
Pressing then releasing the button a second time deactivates the command. The button’s internal light is extinguished when this command is recognized (the corresponding command bit
%Q is set to 0).
For on edge commands:
The command is activated as soon as the button is pressed then released. The button’s internal light lights up then is automatically extinguished.
The light situated next to the button signals the recognition of the command by the module.
Input field
All values entered into an input field must be confirmed using the button.
Using the keyboard
You can use the keyboard to browse in the screens or activate a command:
Keys
Shift F2
Tab
Arrow keys
Space Bar
Action
Allows you to move from one zone to another
In the same zone, allows you to move from one group of commands to another
In a group of commands, allows you to move from one command to another
Allows you to activate or deactivate a command
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Conflicts with the program
There can be conflicts between the Control Expert program that carries out the commands or writes the variables and the commands executed from the debug screen. In all cases, it is the last recognized command that will be active.
Animation
You can stop animation in the display fields:
The command Services → Stop animation stops animation in the display fields and disables the command buttons. For this function you can also use the icon
The command Services → Animate reactivates animation. You can also use the icon
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Description of the debug screens
At a Glance
The debug screens have a common header, made up of a module zone and a channel/function zone.
Module zone
This table describes the module zone:
Light
RUN
ERR
IO
State
On
On
Flashing
On
Meaning
Module is operating
Module is out of service
Communication error with the processor
Process error (AX_FLT %Ir.m.c.2 bit)
Module failed. In choosing the Default tab associated with this button, a diagnostics window appears in order to clarify the source of the error
(See Diagnostics and maintenance, page 195
).
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Channel/function zone
In addition to Channel and Function options (common to all screens), this zone also includes a mode selector button and an unforcing button:
Command Function
Button to select the operating mode
If you want to change the operating mode, click on the name of the new mode to be selected (or click as many times as necessary on the button).
Using the keyboard, select the button using the Tab key then press as many times as necessary on the Space bar.
You can also access the operating modes via the View menu.
When the selected mode is actually recognized by the module, the monitoring zone for movements in the selected mode is displayed.
Caution: although selected, it is possible for the selected mode not to be recognized by the module channel (for example, if the PLC is in STOP mode).
The unforcing button enables global unforcing of all forced objects.
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Detailed Information on the Debug Screen
At a Glance
The debug screen is different according to the switch position selected. There are four possible choices:
The fields and buttons that appear in the four screens are detailed below.
Description of the Movement / Speed Field
This table describes the display zones of the Movement / Speed field:
Display zone Description
X Current Displays the position of the moving part in number of pulses.
X Target Displays the position setpoint of the moving part (position to be reached)
X Remainder Displays the number of pulses left to run
F Current
F Target
N G G9
Displays the speed of the moving part in number of pulses
Displays the speed setpoint of the moving part: speed to be reached (manual speed modulated by the SMC (Speed Modulation Coefficient))
In auto mode, displays the instruction currently being executed:
N for the number of steps
G9 for the type of movement
G for the instruction code
Position
Speed
This slider shows the evolution of the moving part between the limits defined in the configuration screen. The color of the slider is green and becomes red if the limits are exceeded.
This slider displays as a % the speed of the moving part in relation to the maximum speed.
The color of the slider is green and becomes red if VMAX is exceeded.
This table describes the indicators in the Movement / Speed field:
Indicator
+Direction
-Direction
AT Point
NEXT
/
Status
On
On
Meaning
Indicates a movement of the moving part in the positive direction
Indicates a movement of the moving part in the negative direction
Indicates that the movement in progress has finished and that the moving part has reached the target point
Indicates that the moving part is ready to receive a movement command
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Indicator Status
DONE On
Immediate pause On
Meaning
Indicates that the movement in progress has finished
Indicates that the immediate pause function is activated SMC (Speed
Modulation Coefficient) set to 1). At this moment the target position contains the immediate pause stop position.
Description of Axis Field
This table describes the display and command zones of the Axis field:
Indicator / Button Status
OK On
Referenced
Stopped
Enable /
On
On
Meaning
Axis in operational state (no blocking fault)
Referenced axis:
Moving part stationary
This button is used to control the variable speed controller activation relay
Description of I/O Field
This table describes the display zones of the I/O field:
Indicator Meaning
External stop Signal state (0 or 1) on External stopinput. The indicator is on when the external stop is activated, with presence of 24V on the input.
End of run +/- Activity of +/- limit switch function. The indicator is on when the moving part is at the limit switch stop, with absence of 24V on the input.
RP Cam Signal state (0 or 1) on Reference point input. The indicator is on when the moving part is on the cam, with presence of 24V.
Event Cam
Ctrl trans
Signal state (0 or 1) on Event input. The indicator is on when the moving part is on the event cam, with presence of 24V.
The indicator is on when the translator does not deliver the signal ready. The indicator is off when the translator gives the signal OK. The levels depend on the selection made at configuration.
Loss of step Signal state (0 or 1) onLoss of step monitoring input, signal delivered by the translator. The indicator is on when the input is set to 1(cable disconnected), otherwise it is off.
Reset step This button controls the resetting of the detection system which detects loss of translator step.
1 = indicator on, 0 = indicator off
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Description of Commands
This table describes the command zone:
Command
STOP
Param
SMC (Speed Modulation
Coefficient)
Description
Causes the moving part to stop according to the deceleration defined on configuration
Is used to enter the value of an incremental movement (INC+ or INC- command) or the forced reference point
Is used to enter a value from 0 to 2000 which determines the speed multiplier coefficient (0.000 to 2.000 in steps of 1/1000)
Descriptions of EVT Sources
This table describes the EVT sources zone:
Command
RefP (indicator)
RefP (field)
End G10/G11
End G05
TO G05
Description
Indicates positioning of the event cam (reflex input) in response to SMOVE request
(G07)
Displays the stored PREF position
Indicates that an event has occurred during execution of the G10 or G11 instruction
Indicates the end of execution of the G05 instruction
Indicates that the Time Out, defined in the G05 instruction, has elapsed
Description of Commands Field
This table describes the buttons of the Commands field:
Command
JOG-
JOG+
INC-
INC+
Manual reference point
Forced reference point
Description
Visual movement command in the negative direction (1)
Visual movement command in the positive direction (1)
Incremental movement command in the negative direction, for a distance defined in the
Param field
Incremental movement command in the positive direction, for a distance defined in the
Param field
Order to search and take manual reference point. The current position takes the value
RP Value, defined in the adjustment screen, having found the reference point conforming to the type defined on configuration.
With an incremental encoder, forced reference point order. The current position is forced to the value defined in the Param field
This type of reference point does not cause movement of the moving part
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Command
Brake
Boost
Pause
PLC Sync
Description
Manual command for the activation or deactivation of the brake output
In the case where automatic brake management is configured, it is the last activation or deactivation command edge between this manual BRAKE command (%Qr.m.c.13) and the automatic command that is taken into account.
Manual command for the activation or deactivation of the boost output
In the case where automatic boost management is configured, it is the last activation or deactivation command edge between this manual BOOST command (%Qr.m.c.14) and the automatic command that is taken into account.
Stop the movement sequence at the end of the next movement with stop
Order to trigger an event from the processor
(1) These commands remain active as long as the button is pressed. They are used to release the moving part outside the soft stops (after fault acknowledgment).
Description of Faults Field
This table describes the display and command zones of the Faults field:
Indicator/ Button
Cmd refused
Hardware
Axis
Ack.
Status
On
On
/
On
Meaning
Refusal of last command
External hardware fault (encoder, variable speed controller, outputs, etc.)
Application fault (following error, soft stops, etc.)
Fault acknowledgment button. Pressing this button acknowledges all the faults that have disappeared
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Stop Mode (Off)
At a Glance
In this mode, the axis control channel only reports on position and speed. The module movement is not monitored by the channel. The translator confirmation output continues to be monitored by the ENABLE (%Qr.m.c.10). command.
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For details on the fields and buttons in this screen, see
.
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Direct Mode (Dir Drive)
At a Glance
Direct mode allows you to directly control the movement of the moving part, according to the movement setpoint indicated in the PARAM variable.
For details on the fields and buttons in this screen, see
.
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Manual mode (Man.)
At a Glance
Manual mode allows you to directly control the movement of the moving part, from the debug screen. To do this you can use the commands JOG+, JOG-, INC+,
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For details on the fields and buttons in this screen, see
.
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Automatic mode (Auto)
At a Glance
Automatic mode is the mode in which the SMOVE functions are executed.
Debugging
For details on the fields and buttons in this screen, see
.
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Channel diagnostics
At a Glance
The module screens propose a Default tab in online mode that provides access to details of faults detected on the module and channel.
Example of channel diagnostics.
Description of different fields
The Default screen offers the following fields:
Field
Internal faults
External faults
Other faults
Commands refused
Description
Internal errors in the module that generally necessitate the replacement of the module
Errors coming from the operating part
( see page 123 )
Faults from the application ( see page 125 )
Indicate the cause and the message number of a command refused
( see page 126 )
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Storage, document and simulation
Storage
When you have debugged your program in connected mode, you must carry out the following save operations:
Save the adjustment parameters if these have been modified. To do this, select the adjustment screen and use the command Services → Save parameters,
Save the application on to disk using the command File → Save.
Documentation
The documentation for the axes control application is included in the complete documentation for the Control Expert application. This documentation allows you to group in a file:
The program,
The saved Configuration and Adjustment parameters.
Simulation
To operate the channels of the TSX CFY module, all you need is the Telefast discrete simulator strip, reference ABE-6TES160, supplied by the 24 volts available on the rack supply, and to connect it directly to the TSX CFY’s auxiliary I/O HE10 connector via a ribbon cable.
For channel 0, add a level 1 to inputs 2, 4 and 5 (emergency stops and end of runs).
For channel 1 (only TSX CFY 21), inputs 8, 10 and 11. Leave the level 0 everywhere else.
When configuring the axis control channel, check the box drive inversionsmonitor input. This supports operation in the absence of any connection to the SUB D translator.
Confirm
How to carry out simulation with a TSC CFY
To operate the channels of the TSX CFY module, all you need is the Telefast discrete simulator strip, reference ABE-6TES160, supplied by the 24 volts available on the rack supply, and to connect it directly to the TSX CFY’s auxiliary I/O HE10 connector via a ribbon cable.
Step
1
2
3
4
5
Action
For channel 0, add a level 1 to inputs 2, 4 and 5 (emergency stops and end of runs).
For channel 1 (only TSX CFY 21), add a level 1 to inputs 8, 10 and 11. Leave the level 0 everywhere else.
When configuring the axis control channel, check the box drive inversionsmonitor input. This supports operation in the absence of any connection to the SUB D translator.
Confirm the channel in the implementation screen in manual mode.
Use the buttons JOG+ or JOG- to simulate movements of the moving part.
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