Tutorial. Schneider Electric PL7 Junior/Pro - Premium PLC Applications - Movement Control

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Tutorial

At a glance

Aim of this chapter

What's in this

Chapter?

This chapter provides an example of the implementation of a movement command application using the SERCOS® package for TSX Premium PLCs.

This Chapter contains the following Maps:

Topic

Description of the example

Trajectory description

Description of commands in manual mode

Prerequisites and methodology

Variable Speed Controller Configuration

Module TSX CSY 84 configuration

Symbolization

Symbolization of TOR input/output modules

Axis command module symbolisation:

Programming preprocessing

Programming the Grafcet chart

Transitions programming

Actions programming

Programming of post-processing

Program transfer

Adjusting the Parameters

Introduction to the Debug Mode

Page

TLX DS 57 PL7 xx

Tutorial

Description of the example

Introduction

Transfer Device

This example is given for teaching purposes only. It will enable you to follow each phase of implementation for axis command TSX CSY 84 without having to read the whole manual.

A transfer device ensures that machining outputs are removed. This device is made up of a claw which can move within the space on an axis (X and Y axes) parallel to the ground.

When an item appears on the removal conveyor belt A, the claw automatically locates it in order to place it on belt B or C depending on the type of item. The claw then returns to position, ready to grab as soon as a new machined item is detected.

Illustration

Machining equipment C1

Conveyor A

Conveyor B

Conveyor C

Inputs/Outputs The inputs/outputs are as follows :

O/F machined item detection cell identification sensor for item type claw open/closed detection sensor detection cell at the edge of the item (in the claw), connected to the input module event claw : claw open/close command

TLX DS 57 PL7 xx

Application

Grafcet

The application Grafcet is as follows :

Reference point

Referenced axes

Move to waiting position

Detection of a machined part

Move to conveyor A

Detection of edge of part and grab stationary

Close grab

Type 1 part and grab closed

Move to conveyor B

Grab stationary

Open grab

Grab open

Type 2 part and grab closed

Move to conveyor C

Grab stationary

Tutorial

TLX DS 57 PL7 xx

Tutorial

Trajectory description

Trajectory illustration

The following diagram describes the trajectory:

Y_LMAX

Conveyor A

Waiting position

Conveyor B

Conveyor C

X_LMIN

Y_LMIN

X_LMAX

Description

Source port at speed Vp0

Switch at Vret speed to the ready position (Xatt, Yatt) with stop

Switch to the A conveyor belt (XA, YA) until the machined item is detected at speed VA

Switch to speed VB on belt B (XB, YB) with stop

6 Switch to speed VC on belt C (XC, YC) with stop

5, 7 Switch at Vret speed to the ready position (Xatt, Yatt) with stop

TLX DS 57 PL7 xx

Tutorial

Description of commands in manual mode

Front Panel of the Human-

Machine

Interface

The following commands are regrouped on a front panel in order to control the moving part manually whilst there is an installation error. The commands and LEDs are run by input and output TOR modules

Auto X Y Fault

Manual Axis selection

Start cycle

Homing Ack.

Fault

Stop cycle

Reverse Forward Emergency stop

Open grab Close grab

Description of the Commands l l l l l l l l l l l

Auto / Man: operating mode selector switch.

Start cycle: automatic execution of the cycle.

Stop cycle: automatic stopping of the cycle.

X / Y axis selection: Axis selection for control in manual mode.

Source port: manual source port on the selected axis.

Forward / Reverse: positive or negative manual switch command for the selected axis.

Fault: LED batches all hardware and application faults.

Ack. fault: command to acknowledge faults present.

Emergency stop: immediate stop of the moving part whatever mode is selected.

Open grab: claw open command.

Close grab: command to close the grab.

TLX DS 57 PL7 xx

Tutorial

Prerequisites and methodology

Requirements

Methodology l l l

In order to restrict this description to the specific functions for the axis command, it should be assumed that the following operations have already been performed.

PL7 software, version > V3.4B is installed.

UniLink software is installed.

hardware is installed.

l l

Implementation of the TSX XSY 84 module requires: configuration of the Lexium 17S variable speed controller, using UniLink software configuration of the TSX XSY 84 module, using PL7 software (version > V3.4B).

TLX DS 57 PL7 xx

Variable Speed Controller Configuration

Connection to the variable speed controller

Access to the UniLink software displays the following screen :

COM1

COM2

Offline

Disconnect

Interfaces

Tutorial

Click on COM1 or COM2 to connect to the variable speed controller (this depends on the serial port used on the programming terminal for connection to the variable speed controller).

Configuration of the motor and the SERCOS® address

Please consult the UniLink software user manual on how to configure the motor and the SERCOS® address.

TLX DS 57 PL7 xx

Tutorial

Module TSX CSY 84 configuration

Software

Declaration of the PLC

Configuration

Launch the PL7 software, select the New File command, select a Premium processor and check the Grafcet option.

Access the configuration editor from the application browser. To do this: l l open the Station folder (double click on the icon or click on its link), open the Configuration folder (double click on the icon or click on its link), l double click on the hardware Configuration icon.

Then select each component in the PLC configuration. The following items have been selected in this application: l l l l l rack 0 and rack 1 : TSX RKY 8E processor: TSX P57 303, supply modules : TSX PSY 2600 for rack 0 and TSX PSY 5500 for rack 1,

32 inputs module : TSX DEY 32D2K in position 2 of rack 0,

32 outputs module : TSX DSY 32T2K in position 3 of rack 0, l axis command module : TSX CSY 84 in position 2 of rack 1.

Configuration Screen

Configuration

TSX 57303 V5.0 XMWI

XTI..

5 6

2 3 4 5 6

The processor cycle time should exceed 8ms (2 x the duration of the module cycle).

TLX DS 57 PL7 xx

Axis configuration

Tutorial

Double click on the TSX CSY 84 module (position 2 of rack 1), which displays the configuration screen.

l In the channel level zone select: 1 Real, then the Real axis function, l Enter the parameter values, in accordance with the following screen :

TSX CSY 84 [RACK0 POSITION 3]

Configuration

Designation: 8 AXIS N4 MOTION.CONT

Symbol:

Channel:

Real 1

Function:

Real axis

Configured channels: 0, 1, 2

Task:

MAST

Limits

Position checking

Max. Position 5.000000e+005

Min. Position -5.000000e+005

Max. speed 1.200000e+004

Max. Acceleration 1.200000e+004

Max. Deceleration 1.200000e+004

Ctrl. of the enabled position

Active

Tolerance 0.000000e+000

Units

Type

Position

Speed

Acceleration

Scale factor

Numerator

Denominator

Linear mm mm/min

µ m/s²

2.000000e+000

1.000000e+000

Movement

Modulo

Max. modulo

Min. modulo

0.000000e+000

In-position band

Acceleration

Deceleration

1.000000e+005

1.000000e+004

Acceleration type

Rectangle 100 % l l l

Enter the same parameters for the second axis (Integer 2).

Confirm the entry using the Edit /Confirm command or the icon

On the main screen of the configuration editor, confirm the configuration using the

Edit / Confirm command or the icon :

Note: Maximum speed. (Max speed) is set for a 6000 revs/min motor, with movement of 2mm per rev.

TLX DS 57 PL7 xx

Tutorial

Symbolization

Entering symbols

Entering symbols may be accessed by double clicking in the application browser, and in sequence on the Variable and I/O icons.

Variables

Parameters I/O

Address

%I102.0

%I102.0.1

%I102.0.2

%I102.0.3

%I102.0.4

%I102.0.5

%I102.0.6

%I102.0.7

%I102.0.8

%I102.0.9

%I102.0.10

%I102.0.11

%I102.0.12

%I102.0.13

%I102.0.14

%I102.0.15

%I102.0.16

%I102.0.17

%I102.0.18

%I102.0.19

%I102.0.20

%I102.0.21

%I102.0.22

%I102.0.23

%I102.0.24

%I102.0.25

%I102.0.26

Addr.

102 : TSX CSY 84

Type

EBOOL

Ap2_steady

Symbol

Ap2_ramping

Ap2_stopping

Ap2_profile_end

Ap2_in_position

Ap2_axis_homing

Ap2_axis_homed

Ap2_axis_not_following

Ap2_holding

Ap2_resuming

Ap2_drive_enable

Ap2_drive_diag

Ap2_drive_warning

Ap2_drive_fault

Ap2_drive_disabled

EBOOL Ap2_axis_summary_fault

EBOOL Ap2_axis_comm_ok

EBOOL

Ap2_axis_is_linked

Ap2_axis_at_target

Ap2_axis_pos_limit

Ap2_axis_neg_limit

Ap2_drive_realtime_bit1

Entry field

Comment

Motion profile in acceleration or deceleration

Motion profile in constant velocity

Motion profile in deceleration to the target position

Motion profile commands processed + move queue empt

Target reached within Tolerance band

Homing command in execution

Axis in home position and the drive’s position valid

Motion profile disabled to perform a special operation(ex:

Motion profile in deceleration or paused

Motion profile in acceleration back following a resume co

Drive enabled with motor power

SERCOS class 3 diagnostic bit changed

SERCOS class 2 diagnostic bit changed

SERCOS class 1 diagnostic bit changed

Drive desabled and motor power removed

Motion profile fault (drive fault or drive communication fau

Axis power up and communication drive active

Axis active and responding to commands (VirtualMaster

At_target in Position tolerance band

Axis position beyond the positive position limit

Axis position is beyond the negative position limit

Axis in home position and the drive’s position valid

Symbols for internal variables

The following internal variables are symbolized:

Comment Address

%MF102

%MF104

Symbol

Speed_reached

Man_speed

TLX DS 57 PL7 xx

Tutorial

Symbolization of TOR input/output modules

TOR input module symbols

%I2.7

%I2.8

%I2.9

%I2.10

%I2.11

%I2.12

%I2.13

%I2.14

The TOR input module is positioned in slot 2 of rack 0. The symbols are as follows

Address

%I2.1

%I2.2

%I2.3

Symbol

Sensor_2

Sensor_3

Auto_man

Comment

Item identification sensor (0= type 2,

1 = type 1)

Grab open / grab closed sensor

Select mode switch (0 = auto

1 = man 1)

%I2.4

%I2.5

%I2.6

Start_cycle

Stop_cycle x_y_selection Select axis manually to move or PO (1 = x; 0

= y)

Home_man

Forward

Reverse

Ack_fault

Fault_type

Enable_axes

Open_grab

Close_grab

Confirm axes

Output Module

Symbols

The TOR input module is positioned in slot 3 of rack 0. The symbols are as follows

Address

%Q3.0

%Q3.1

Symbol

Grab

Fault

Comment

Actuator command to open / close grab

Fault indication

TLX DS 57 PL7 xx

Tutorial

Axis command module symbolisation:

List of symbols The axis command module is positioned in slot 2 of rack 1.

These symbols are as follows:

Comment

%I102.1.15

%I102.1.16

%I102.1.17

%I102.1.18

%I102.1.19

%I102.1.20

%I102.1.21

%I102.1.22

%I102.1.26

%I102.1.27

%I102.1.28

%I102.1.29

%I102.1.30

%I102.1.31

%IF102.1

Address

%I102.1

%I102.1.1

%I102.1.2

%I102.1.3

%I102.1.4

%I102.1.5

%I102.1.6

%I102.1.7

%I102.1.8

%I102.1.9

%I102.1.10

%I102.1.11

%I102.1.12

%I102.1.13

%I102.1.14

Symbol

Ramping_x

Steady_x

Stopping_x

Profile_end_x

In_position_x

Axis_homing_x

Axis_homed_x

Axis_not_following_x

Holding_x

Resuming_x

Drive_enable_x

Drive_diag_x

Drive_warning_x

Drive_fault_x

Drive_disable_x

Axis_summary_fault_x

Axis_comm_ok_x

Axis_is_linked_x

Axis_in_command_x

Axis_capture_x

Axis_at_target_x

Axis_pos_limit_x

Axis_neg_limit_x

Drive_realtime_bit1_x

Drive_realtime_bit2_x

Axis_hold_x

Axis_halt_x

Axis_faststop_x

+Axis_ready_x

Position_x

TLX DS 57 PL7 xx

Tutorial

TLX DS 57 PL7 xx

Address

%Q102.1.2

Symbol

Control_acquire_x

Control_enable_x

Control_resume_x

Control_clear_fault_x

Allow_capture_x

Allow_acquire_x

%Q102.1.26

%Q102.1.27

Allow_enable_x

Allow_follow_x

%Q102.1.28

Allow_resume_x

%MW102.1.19

Err_write_cmd_x

%MD102.1.20

Return_1

%MD102.1.27

Param_1

%MD102.1.29

Param_2

%MF102.1.22

Return_2

%MF102.1.24

Return_3

%MF102.1.31

Param_3

%MF102.1.33

Param_4

%I102.2

Ramping_y

%I102.2.1

%I102.2.2

%I102.2.3

%I102.2.4

Steady_y

Stopping_y

Profile_end_y

In_position_y

%I102.2.5

%I102.2.6

%I102.2.7

%I102.2.8

%I102.2.9

%I102.2.10

%I102.2.11

%I102.2.12

%I102.2.13

%I102.2.14

%I102.2.15

%I102.2.16

Axis_homing_y

Axis_homed_y

Axis_not_following_y

Holding_y

Resuming_y

Drive_enable_y

Drive_diag_y

Drive_warning_y

Drive_fault_y

Drive_disable_y

Axis_summary_fault_y

Axis_comm_ok_y

Comment

Tutorial

Address

%I102.2.17

%I102.2.18

%I102.2.19

%I102.2.20

%I102.2.21

%I102.2.22

Symbol

Axis_is_linked_y

Axis_in_command_y

Axis_capture_y

Axis_at_target_y

Axis_pos_limit_y

Axis_neg_limit_y

%I102.2.26

%I102.2.27

%I102.2.28

%I102.2.29

Drive_realtime_bit1_y

Drive_realtime_bit2_y

Axis_hold_y

Axis_halt_y

%I102.2.30

%I102.2.31

Axis_faststop_y

Axis_ready_y

%IF102.2

Position_y

%MD102.2.20

Return_12

%MD102.2.27

Param_12

%MD102.2.29

Param_22

%MF102.2.22

Return_22

%MF102.2.24

Return_32

%MF102.2.31

Param_32

%MF102.2.47

Param_42

Comment

TLX DS 57 PL7 xx

Programming preprocessing

MAST - PRL ! (*Chart initialisation*)

IF NOT %I2.4 OR %S1 THEN SET %S21; END_IF;

! (*Initialisation of movement values*)

%MF50 := %MF52 := 1000.0; (*Ready position*)

%MF54 := 2000.0; (*Move to belt B axis X*)

%MF56 := 1500.0; (*Move to belt B axis Y*)

%MF58 := 2000.0; (*Move to belt C axis X*)

%MF60 := 500.0; (*Move to belt C axis Y*)

%MF102 := 10000.0; (*Auto speed*)

%MF104 := 2000.0; (*Manual speed*)

%MF106:= 1000.0; (*Reference point speed*)

(*Initialization of channel 0*)

%Q102.0.26 := NOT %S0;

%L10:

Tutorial

TLX DS 57 PL7 xx

Tutorial

Programming the Grafcet chart

CHART - PAGE 0 Grafcet

(*INIT*)

(*start cycle*)

(*enable axes x and y*)

(*axes enabled*)

(*home axes x and y*)

(*referenced axes*)

(*move to waiting position*)

(*detect a part>> 1

(*move to conveyor a*)

(*detect edge of part*)

List of connectors

(*detection of a machined item*)

(*belt b movement*)

(*belt c movement*)

(*close grab*)

(*movement>> 2

(*movement>> 3

(*open grab*)

(*grab open*)

TLX DS 57 PL7 xx

Tutorial

Transitions programming

Step 0 -> 1

Step 1 -> 2

Step 2 -> 3

Step 3 -> 4

Step 4 -> 5

Step 5 -> 6 l %X(0) -> %X(1)

! (*dcy and auto mode and no error *)

%I2.4 AND NOT %I2.3 AND NOT %I102.1.15 AND NOT %I102.2.15

l %X(1) -> %X(2)

! (*%m1 manual control // %mw2.x.3 = 1 -> ERR WRITE_CMD*)

%I102.1.10 AND %I102.2.10

l %X(2) -> %X(3)

! (*verification if drives are referenced and the command made*)

%I102.1.6 AND %I102.2.6

AND (%MW102.1.19 = 0) AND (%MW102.2.19 = 0) AND NOT

%MW102.1:X1

AND NOT %MW102.2:X1 (*check exchanges*) l %X(3) -> %X(4)

! (*verification => end of instruction and in position*)

%I102.1.3 AND %I102.2.3 AND %I102.1.4 AND %I102.2.4

(*check axes*)

AND %I3.0

(*part present*)

AND (%MW102.1.19 = 0) AND (%MW102.2.19 = 0) AND NOT

%MW102.1:X1

AND NOT %MW102.2:X1 (*check exchanges*) l %X(4) -> %X(5)

! (*verification => end of instruction and in position*)

%I102.1.3 AND %I102.2.3 AND %I102.1.4 AND %I102.2.4

(*check axes*)

AND (%MW102.1.19 = 0) AND (%MW102.2.19 = 0) AND NOT

%MW102.1:X1

AND NOT %MW102.2:X1 (*check exchanges*) l %X(5) -> %X(6)

! (*machined item identification*)

%I2.1 AND %I2.2

TLX DS 57 PL7 xx

Tutorial

Step 6 -> 7

Step 7 -> 3

Step 5 -> 10

Step 10 -> 7 l %X(6) -> %X(7)

! (*verification => end of instruction and in position*)

%I102.1.3 AND %I102.2.3 AND %I102.1.4 AND %I102.2.4

(*check axes*)

AND (%MW102.1.19 = 0) AND (%MW102.2.19 = 0) AND NOT

%MW102.1:X1

AND NOT %MW102.2:X1 (*check exchanges*) l %X(7) -> %X(3)

! (*open grab?*)

NOT %I2.2

l %X(5) -> %X(10)

! (*machined item identification*)

NOT %I2.1 AND %I2.2

l %X(10) -> %X(7)

! (*verification => end of instruction and in position*)

%I102.1.3 AND %I102.2.3 AND %I102.1.4 AND %I102.2.4

(*check axes*)

AND (%MW102.1.19 = 0) AND (%MW102.2.19 = 0) AND NOT

%MW102.1:X1

AND NOT %MW102.2:X1 (*check exchanges*)

TLX DS 57 PL7 xx

Tutorial

Actions programming

Step 1

Step 2 l l

%X1 P1

! (*confirmation of axis channels 1 and 2*)

SET %Q102.1.10; SET %Q102.1.2; SET %Q102.2.10; SET

%Q102.2.2;

%X1 P0

! (*Initialization of values*)

SET %Q102.1.10; SET %Q102.1.2; SET %Q102.2.10; SET

%Q102.2.10;

RESET %Q102.2.2; l %X2 P1

! (*channel 2 reference point*)

%MW102.2.26 := 6034; (***Set position***)

%MD102.2.27 := 0; (***Param 1***)

%MD102.2.29 := 0; (***Param 2 ***)

%MF102.2.31 := 1.0; (***1 => positive direction, -1 negative direction***)

%MF102.2.33 := %MF106; (***speed***)

WRITE_CMD %CH102.2;

! (*channel 1 reference point*)

%MW102.2.26 := 6034; (***Set position***)

%MD102.1.27 := 0; (***Param 1***)

%MD102.1.29 := 0; (***Param 2***)

%MF102.1.31 := 1.0; (***1 => positive direction, -1 => negative direction***)

%MF102.1.33 := %MF106; (***speed***)

WRITE_CMD %CH102.1;

TLX DS 57 PL7 xx

Tutorial

Step 3

Step 4

Step 5 l %X3 P1

! (*channel 2 absolute movement*)

%MW102.2.26 := 513; (***Move Immed***)

%MD102.2.27 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE,

2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

%MD102.2.29 := 0; (***Param_2***)

%MF102.2.31 := %MF50; (Direction / Cont 1.0, Position / abs***)

%MF102.2.33 := %MF102; (***Speed***)

WRITE_CMD %CH102.2;

! (*channel 1 absolute movement*)

%MW102.2.26 := 6034; (***Set position***)

%MW102.1.26 := 513; (***Move Immed***)

%MD102.1.27 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE,

2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

%MD102.1.29 := 0; (***Param_2***)

%MF102.1.31 := %MF52; (Direction / Cont 1.0, Position / abs***)

%MF102.1.33 := %MF102; (***Speed***)

WRITE_CMD %CH102.1; l %X4 P1

! (*channel 1 absolute movement*)

%MW102.1.26 := 513; (***Move Immed***)

%MD102.1.27 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE,

2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

%MD102.1.29 := 0; (***Param_2***)

%MF102.1.31 := 0.0; (Direction / Cont 1.0, Position / abs***)

%MF102.1.33 := %MF102; (***Speed***)

WRITE_CMD %CH102.1;

! (*channel 2 absolute movement*)

%MW102.2.26 := 513; (***Move Immed***)

%MD102.2.27 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE,

2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

%MD102.2.29 := 0; (***Param_2***)

%MF102.1.31 := 0.0; (Direction / Cont 1.0, Position / abs***)

%MF102.2.33 := %MF102; (***Speed***)

WRITE_CMD %CH102.2; l %X5 P1

! (*close grab*)

SET %Q3.0;

TLX DS 57 PL7 xx

Step 6

Step 7

Step 10

Tutorial l %X6 P1

! (*channel 1 absolute movement*)

%MW102.1.26 := 513; (***Move Immed***)

%MD102.1.27 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE,

2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

%MD102.1.29 := 0; (***Param_2***)

%MF102.1.31 := %MF52; (Direction / Cont 1.0, Position / abs***)

%MF102.1.33 := %MF102; (***Speed***)

WRITE_CMD %CH102.1;

! (*channel 2 absolute movement*)

%MW102.2.26 := 513; (***Move Immed***)

%MD102.2.27 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE,

2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

%MD102.2.29 := 0; (***Param_2***)

%MF102.2.31 := %MF56; (Direction / Cont 1.0, Position / abs***)

%MF102.2.33 := %MF102; (***Speed***)

WRITE_CMD %CH102.2; l %X7 P1

(*open grab*)

RESET %Q3.0; l %X10 P1

! (*channel 1 absolute movement*)

%MW102.1.26 := 513; (***Move Immed***)

%MD102.1.27 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE,

2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

%MD102.1.29 := 0; (***Param_2***)

%MF102.1.31 := %MF58; (Direction / Cont 1.0, Position / abs***)

%MF102.1.33 := %MF102; (***Speed***)

WRITE_CMD %CH102.1;

! (*channel 2 absolute movement*)

%MW102.2.26 := 513; (***Move Immed***)

%MD102.2.27 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE,

2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

%MD102.2.29 := 0; (***Param_2***)

%MF102.2.31 := %MF60; (Direction / Cont 1.0, Position / abs***)

%MF102.2.33 := %MF102; (***Speed***)

WRITE_CMD %CH102.2;

TLX DS 57 PL7 xx

Tutorial

Programming of post-processing

MAST - POST ! (*----------RESET error management----------*)

IF %I2.10 THEN SET %Q102.1.15; SET %Q102.2.15; SET %Q102.1.2;

SET %Q102.20.2;

ELSE RESET %Q102.1.15; RESET %Q102.2.15;

RESET %Q102.1.2; RESET %Q102.2.2;

END_IF;

! (*----------Management of manual mode----------*)

(*Initialize G7*)

IF %I2.3 THEN SET %S21;

END_IF;

(*Enable axes for manual mode*)

IF %I2.10 THEN SET %Q102.1.2; SET %Q102.2.10; SET %Q102.2.2;

SET %Q102.2.10;

ELSE RESET %Q102.1.2; RESET %Q102.1.10; RESET %Q102.2.2;

RESET %Q102.1.10;

END_IF;

(**********Positive x channel manual mode**********)

IF RE%I2.9 AND %I2.6 THEN

%MW102.1.26 := 513; (***Move Immed***)

%MD102.1.27 := 2; (***Move type 2 = CONT_MOVE***)

%MD102.1.29 := 0; (***Param_2***)

%MF102.1.31 := 0.0; (***Direction***)

%MF102.1.33 := %MF104; (***Speed***)

WRITE_CMD %CH102.1;

END_IF;

(**********Negative x channel manual mode**********)

IF RE%I2.9 AND %I2.6 THEN

%MW102.1.26 := 513; (***Move Immed***)

%MD102.1.27 := 2; (***Move type 2 = CONT_MOVE***)

%MD102.1.29 := 0; (***Param_2***)

%MF102.1.31 := -1,0; (***Direction***)

%MF102.1.33 := %MF104; (***Speed***)

WRITE_CMD %CH102.1;

END_IF;

IF FE %I2.9 AND %I2.6 THEN %MW102.1.26:= 407;

WRITE_CMD %CH102.1;

END_IF;

TLX DS 57 PL7 xx

(**********Positive y channel manual mode**********)

IF RE%I2.9 AND NOT %I2.6 THEN

%MW102.2.26 := 513; (***Move Immed***)

%MD102.2.27 := 2; (***Move type 2 = CONT_MOVE***)

%MD102.2.29 := 0; (***Param_2***)

%MF102.2.31 := 0.0; (***Direction***)

%MF102.2.33 := %MF104; (***Speed***)

WRITE_CMD %CH102.2;

END_IF;

IF FE %I2.8 AND NOT %I2.6 THEN %MW102.2.26 := 407;

WRITE_CMD %CH102.2;

END_IF;

(**********Negative y channel manual mode**********)

IF RE%I2.9 AND NOT %I2.6 THEN

%MW102.2.26 := 513; (***Move Immed***)

%MD102.2.27 := 2; (***Move type 2 = CONT_MOVE***)

%MD102.2.29 := 0; (***Param_2***)

%MF102.2.31 := -1.0; (***Direction***)

%MF102.2.33 := %MF104; (***Speed***)

WRITE_CMD %CH102.2;

END_IF;

IF FE %I2.9 AND NOT %I2.6 THEN %MW102.2.26 := 407;

WRITE_CMD %CH102.2; END_IF;

(**********Manual homing of channel x**********)

IF RE %I2.7 AND %I2.6 THEN

%MW102.1.26 := 6034; (***Homing***)

%MD102.1.27 := 0; (***Param_1***)

%MD102.1.29 := 0; (***Param_2***)

%MF102.1.31 := 1.0; (***Direction***)

%MF102.1.33 := %MF106; (***Speed***)

WRITE_CMD %CH102.1;

END_IF;

Tutorial

(**********Manual homing of channel y**********)

IF RE %I2.7 AND NOT %I2.6 THEN

%MW102.2.26 := 6034; (***Homing***)

%MD102.2.27 := 0; (***Param_1***)

%MD102.2.29 := 0; (***Param_2***)

%MF102.2.31 := 1,0; (***Direction***)

%MF102.2.33 := %MF106; (***Speed***)

WRITE_CMD %CH102.2;

END_IF;

! (*----------Stop cycle in progress HALT instruction----------*)

IF RE%I2.5THEN %MW102.1.26:= 407; WRITE_CMD %CH102.1;

%MW102.2.26 := 407; WRITE_CMD %CH102.2;

END_IF;

! (*----------Error type read----------*)

IF RE%I2.11THEN%MW102.1.26 := 5510; WRITE_CMD %CH102.1;

%MW102.2.26 := 5510; WRITE_CMD %CH102.2;

END_IF;

! (*----------Disable channels----------*)

(*disable drive on channel 2*)

IF %M4THEN%MW102.2.26 := 402; WRITE_CMD %CH102.2; END_IF;

(*disable drive on channel 1*)

IF %M4THEN%MW102.2.26 := 402; WRITE_CMD %CH102.1; END_IF;

TLX DS 57 PL7 xx

Tutorial

Program transfer

Procedure for transferring a program

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

Step

Action

Connect the terminal to the PLC using the AP

→

Connectcommand.

Activate the AP

→

Transfercommand.

Select the Console ->PLC option.

Confirm transfer.

TLX DS 57 PL7 xx

Tutorial

Adjusting the Parameters

Introduction If needed, it can be important to be able to adjust the configuration parameters.

There are several possible ways of doing this: l you can return to local mode and modify the parameters directly inside the configuration screen, l PL7 enables you to also modify the parameters in online mode by using either: l the adjustment screens (method explained below), l the functions associated with the adjustment parameters via the application.

Adjustment procedure via the

PL7 screens

In order to carry out the parameter adjustment, you should perform the following steps:

Step

Action

Access the hardware configuration screen of the application.

Double click on the CSY 84 module. You can also select the module and execute the commandEdit

→

Open module.

TLX DS 57 PL7 xx

Step

Tutorial

Action

Activate theView

→

Adjust command to access the adjustment screen

(example: Channel 1)

Adjust

Designation: 8 AXIS N4 MOTION.CONT

Symbol:

Channel:

1 Real

Configured channels: 0, 1

Function:

Real axis

Limits

Position checking

Max. position 5.000000e+006

Min. position -5.000000e+002

Units

Type

Position

Speed

Max. speed 5.000000e+005

Max. accélération 5.000000e+004

Max. deceleration 5.000000e+002

Ctrl. of the enable position

Active

Tolerance 0.000000e+000

Acceleration

Scale factor

Numerator

Denominator

Linear

µ m

µ m/s

µ m/s²

Task:

MAST

1.000000e+000

Movement

Modulo

Max. modulo

Min. modulo

0.000000e+000

In-position band 7.000000e+000

Acceleration

Deceleration

1.000000e+002

1.000000e+001

Acceleration type

Rectangle 100 %

Transfer the variable speed controller parameters

Direction of transfer

PLC -> variable speed controller

Variable speed controller -> PLC

Transfer

Parameters

Transfer the variable speed controller parameters to the PLC memory:

Address table %MW 100

Length 200

Results

Error transfer: 22

Length of the table read : 00

Enter the possible changes.

Confirm the entries using the Edit

→

Confirm command or click on the icon

Restore/Save parameters

This service is available for the Network channel, the real, imaginary and remote axes as well as for the slave axes. For more information on this service, refer to the

Basic applications manual, Common applications section, RESTORE_PARAM and

SAVE_PARAM functions.

TLX DS 57 PL7 xx

Tutorial

Introduction to the Debug Mode

Introduction Once the application has been performed then transferred, it is often necessary to debug it.

PL7 will show you how to do this with the help of tools such as: l debugging screens that: l l have numerous indicators of the status of the application give access to the change of status of certain variables

Note: The debug function has to be in online mode.

Debug procedure

You can perform the program debugging in the following way:

Step

Action

Set the PLC to RUN.

Display the debug screen of the TSX CSY 84 module.

Note: You can simultaneously display a language editor in order to follow the development of the application.

Begin executing the program.

TLX DS 57 PL7 xx

سلام! من یک ربات چت هوش مصنوعی هستم که به طور خاص برای کمک به شما در مورد Tutorial. Schneider Electric PL7 Junior/Pro - Premium PLC Applications - Movement Control آموزش دیده‌ام. من سند را به طور کامل بررسی کرده‌ام و می‌توانم به شما کمک کنم اطلاعات دقیقی را که نیاز دارید پیدا کنید یا محتوا را به زبان ساده و واضح توضیح دهم. چه به دنبال راهنمایی در مورد ویژگی‌های خاص، مراحل عیب‌یابی یا استفاده عمومی باشید، می‌توانید سوالات خود را بپرسید. هرچه جزئیات بیشتری در مورد نگرانی‌ها یا نیازهای خود ارائه دهید، من می‌توانم دقیق‌تر و موثرتر به شما کمک کنم!

دستیار در حال تایپ

دستیار از صفحه کلید خارج شده است. لطفا بعدا دوباره امتحان کنید.

فهرست مطالب

تبلیغات

Tutorial

At a glance

Description of the example

Trajectory description

Description of commands in manual mode

Prerequisites and methodology

Variable Speed Controller Configuration

Module TSX CSY 84 configuration

Symbolization

Symbolization of TOR input/output modules

Axis command module symbolisation:

Programming preprocessing

Programming the Grafcet chart

Transitions programming

Actions programming

Programming of post-processing

Program transfer

Adjusting the Parameters

Introduction to the Debug Mode

مرتبط

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

Schneider Electric TSXCSY84 / 164 Premium PLC Applications Movement Control SERCOS® Module, Application User Guide

PLC TSX CSY 84, TSX CSY 85, TSX CSY 164 Reminder

Schneider Electric Softwaremäßige Inbetriebnahme der applikationsspezifischen Funktionen PL7 Junior/Pro 4.3 - Teil 6 Benutzerhandbuch

TSX CSY 84/164 Bewegungssteuerungsmodule | AI Chat & PDF

Schneider Electric Implementazione software delle funzioni PL7 Junior/Pro 4.3 - Volume 6 Guida utente

Schneider Electric Softwareimplementierung, Applikationsspezifische Steuerungen, Sercos, Junior/Pro, 4.5 Benutzerhandbuch

Schneider Electric Programa de funciones específicas PL7 Junior/Pro 4.3 - Tomo 6 Guía del usuario

Schneider Electric Messa in opera software delle funzioni specifiche PLC, Sercos, Junior/Pro, 4.5 Guida utente

TSX CSY 84/164 Manuale | AI Chat & PDF Access

Schneider TSX CFY Axis Control: AI Chat & PDF Access

Schneider Electric Puesta en marcha del software de las funciones específicas de los autómatas, Sercos, Junior/Pro, 4.5 Guía del usuario