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SM-Applications Modules & Motion Processors User Guide

75

Issue Number:  4

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6.1.3

Modbus ASCII

Both slave and master modes of the Modicon Modbus ASCII protocol are supported.
In Modbus ASCII slave mode, the following function codes are supported.:

6.1.4

User Modes

These modes turn off all internal protocols and allow the user to access the EIA-RS485 
port directly from the DPL program. They can be used in conjunction with the DPL ANSI 
commands - ANSIREAD, ANSIWRITE etc. User defined protocols can also be 
implemented using the DPL PUTCHAR and GETCHAR commands.

6.2

CTNet

Please see Features section on pages 8, 9 & 10 for availability on your module.
Full details of CTNet are outside the scope of this User Guide and can be found in the 
separate CTNet

 User Guide

.

12

Register data 0 LSB

11 + byte count CRC LSB
12 + byte count CRC MSB

Table 6-12 Slave response

Byte

Description

0

Slave source node address

1

Function code 0x17

2

Length of register data in read block (in bytes)

3

Register data 0 MSB

4

Register data 0 LSB

3 + byte count

CRC LSB

4 + byte count

CRC MSB

Table 6-11 Master request

Byte

Description

Function Description

FC3

Read multiple registers

FC6

Preset single registers

FC16

Preset multiple registers

FC23

Read/write multiple registers

Refer to on-line help for further information.
Full details of the Modbus protocol can be found on the Modicon web site at 
www.modicon.com. Note that the 32-bit access mode is specific to Control Techniques.

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Summary of Contents for Digitax ST Indexer

Page 1: ...r Guide SM Applications Modules and Motion Processors SM Applications SM Applications Lite SM Applications Plus SM Applications Lite V2 Digitax ST Indexer Digitax ST Plus Part Number 0471 0062 04 Issu...

Page 2: ...nces including EU directive 2011 65 EU and the Chinese Administrative Measures for Restriction of Hazardous Substances in Electrical and Electronic Products Disposal and Recycling WEEE REACH legislati...

Page 3: ...change the specification of the product or its performance or the contents of the guide without notice All rights reserved No parts of this guide may be reproduced or transmitted in any form or by an...

Page 4: ...ts 9 1 10 Hazardous environments 9 1 11 Motor 9 1 12 Mechanical brake control 9 1 13 Adjusting parameters 9 1 14 Electromagnetic compatibility EMC 9 2 Introduction 10 2 1 Features for Different Module...

Page 5: ...nfiguration Parameters 29 5 4 Menus 70 75 PLC Registers 43 5 5 Menu 85 Timer Function Parameters 44 5 6 Menu 86 Digital I O Parameters 46 5 7 Menu 88 Status Parameters 48 5 8 Menu 90 General Parameter...

Page 6: ...ization example 1 104 10 3 Inter option Synchronization example 2 107 10 4 Position control tasks 111 11 Diagnostics 112 11 1 Run time Errors 112 11 2 Drive Display Trip Codes 112 11 3 Second Processo...

Page 7: ...ction System design installation commissioning start up and maintenance must be carried out by personnel who have the necessary training and competence They must read this safety information and this...

Page 8: ...solated at least ten minutes before work may continue 1 7 Mechanical hazards Careful consideration must be given to the functions of the drive or controller which might result in a hazard either throu...

Page 9: ...not be relied upon It is essential that the correct value is entered in the Motor Rated Current parameter 1 12 Mechanical brake control Any brake control functions are provided to allow well co ordina...

Page 10: ...ide information thus offering a complete application solution The Second Processors are solutions modules that can be fitted to expansion slots in the supported drives or are embedded in the Digitax d...

Page 11: ...PTLite V1 4 0 or later Enhanced high speed dedicated microprocessor SyPTLite 10 kb executable memory 384 kb executable memory 80 kb user memory Task based programming system allowing for real time con...

Page 12: ...option modules and embedded processors on Digitax ST Indexer and Digitax ST Plus Throughout the manual these will be referred to generically as Second Processors or modules Should a particular section...

Page 13: ...PTPro offers various tools to help in developing solutions Configuration editor for configuring drives and connections on CTNet EtherNet CT RTU CT TCP and MD29MON networks IEC61131 3 based ladder and...

Page 14: ...from the Solutions Module slot For further information refer to the appropriate drive manual 3 2 SMARTCARD Installation Refer to the relevant drive documentation for SMARTCARD support 3 3 Electrical C...

Page 15: ...nection for EIA RS485 port 2 RX EIA RS485 Receive line negative Incoming 3 RX EIA RS485 Receive line positive Incoming 4 TX EIA RS485 Transmit line negative Outgoing 5 TX EIA RS485 Transmit line posit...

Page 16: ...s provided This has the advantage that if the terminal block is unplugged the continuity of the CTNet network is not broken CTNet networks run at high data rates and require cable specifically designe...

Page 17: ...pigtail to be connected to CTNet shield connection on the terminal block as already shown For safety the CTNet shield must be connected to earth at one point This earth connection is to prevent the c...

Page 18: ...by 2 unit loads Therefore in two wire mode each Control Techniques device loads the line by 4 unit loads This means that no more than a total of seven devices can be connected in a single group allow...

Page 19: ...ne point 3 7 4 Routing of the cable A data communications cable should not run parallel to any power cables especially ones that connect drives to motors If parallel runs are unavoidable ensure a mini...

Page 20: ...gital I O Parameters on page 46 3 9 Port Isolation The digital input output ports are connected to the main drive control circuits The CTNet and EIA RS485 ports have supplementary insulation from the...

Page 21: ...des the firmware version of the module This User Guide is written for firmware version V01 04 07 V01 01 00 4 1 Using SyPTPro and SyPTLite SyPTPro provides the development platform for the SM Applicati...

Page 22: ...CTNet This is part of the routing capability of the CTNetAPI See section 4 3 CTNetAPI routing on page 22 4 3 CTNetAPI routing The CTNetAPI offers a routing capability that allows access to various dri...

Page 23: ...he Insert menu or by double clicking on the Double click to Insert Node icon 2 The Node properties will now be displayed Enter in the relevant details for Node ID and Network Then any information on S...

Page 24: ...ned in section 4 2 Connecting the PC to the Second Processor on page 21 When using SyPTLite there is a choice of 3 targets when you create a new ladder diagram Drive Onboard module or Commander SK Fig...

Page 25: ...his is created in the DPL Editor within SyPTPro Task sections encapsulate blocks of instructions that are to be executed by the microprocessor at a particular time for example every 8 ms or when the m...

Page 26: ...n accumulator This example shows the basic concepts of accessing parameters and using mathematical functions It may be useful to people migrating from the UD70 platform toij Unidrive Classic since it...

Page 27: ...ously read encoder feedback value to give us the delta 3 Re scale the value to actual encoder counts assuming a standard incremental rather than SinCos type encoder 4 Add this delta to an accumulator...

Page 28: ...cond Processor when performing the actions shown below are Menus 70 71 74 and 75 equivalent to P Q T and U register sets Menu 20 To save the parameters on demand 1 Set Pr 81 19 to 1 Save Request 2 Pre...

Page 29: ...the Digital ST Indexer menu 17 is reserved for the motion processor Unless otherwise indicated these parameters are only read when the Second Processor is first powered up on a reset or on a REINIT D...

Page 30: ...not permitted since it is used by the master for addressing groups of nodes This parameter has no effect if the EIA RS485 mode is 25 CTSync or 26 CTSync Pr 81 02 Firmware Version Major Access RO Rang...

Page 31: ...set for Mode 13 1 start bit 8 data bits NO parity 2 stop bits Mode 43 1 start bit 8 data bits EVEN parity 1 stop bit Mode 73 1 start bit 8 data bits ODD parity 1 stop bit 14 44 74 4 wire Modbus ASCII...

Page 32: ...stop bit 20 50 80 2 wire Modbus ASCII master The EIA RS485 is set for Mode 20 1 start bit 7 data bits NO parity 2 stop bits Mode 50 1 start bit 7 data bits EVEN parity 1 stop bit Mode 80 1 start bit...

Page 33: ...ed to be set to a 1 On Controls where the output of the DPL PRINT command is sent If set to zero Off the output is sent to the programming client SyPTPro and if set to 1 On it will be sent to the EIA...

Page 34: ...set to 1 the module will be unaffected by a drive trip reset i e continue running Pr 81 12 POS task scheduling rate Access RW Range 0 to 6 Default 0 Update Rate Initialization Display Value Descripti...

Page 35: ...SLx tO Please note that the WDOG command must also be executed once for the watchdog to be enabled This is normally executed at the end of the Initial task Pr 81 16 Encoder Data Update Rate Access RW...

Page 36: ...0 therefore if more than one Second Processor is fitted to the drive only one should have this parameter set otherwise menu 20 will not be restored correctly on power up Pr 81 19 Save Request Access R...

Page 37: ...n rate for CTNet This message is used to tell all nodes when to transmit cyclic data Only one node on the CTNet network should have this parameter set The format of the update parameter is SSFF where...

Page 38: ...nation node number and slot NNN Node number 0 255 SS Slot number 1 3 e g A value of 201 means node ID 2 slot 1 Pr 81 27 MMPP 1 Defines the source drive parameter which is to be transmitted MM Menu num...

Page 39: ...an APC non recoverable error occurs such as use of an unitialised CAM function When this parameter is 1 the drive will not trip when an APC non recoverable error occurs Pr 81 36 CTNet Diagnostics Acc...

Page 40: ...Status Access RW Range 0 1 Default 0 Update Rate NA Synchronization Status Status 0 The synchronization master request is zero or another option module is synchronization master 1 The option module is...

Page 41: ...3 The priority levels of different tasks may be changed with this parameter The parameter is accessed in a bit wise manner This parameter is dependant on what is running in the module i e Indexer Pr 8...

Page 42: ...n number Use the function block SETUSERID to write to this parameter When a run time error occurs the error number is placed into this parameter See Chapter 11 1 Run time Errors on page 112 for furthe...

Page 43: ..._R01 1 Pr 75 65 66 will do the same as _U65 66 etc Menus 70 71 74 and 75 can all be saved into the non volatile flash memory upon request or automatically when the drive goes into under voltage refer...

Page 44: ...re on DIGIN1 Counter overflow can be selected by the user up to the full 16 bit range avilable for the counter The timer can be set to cache the count on a DIGIN0 rising or falling edge transition Fig...

Page 45: ...n wrap around 2 Capture mode 2 The selected clock drives the counter A falling edge transition on DIGIN0 causes the current counter value to be latched into the TIMER CAPTURE CACHE parameter and the T...

Page 46: ...s RW Range 16 bit Default N A Update Rate Immediate Apps Apps Lite Apps Plus Lite V2 ST Plus ST Indexer Setting a small wrap around figure with the timer operating at fast rates could result in the Se...

Page 47: ...ovides control for both digital outputs and is an alternative to controlling each output individually with Pr 86 03 and Pr 86 04 Bit0 of this parameter controls digital output 0 Pr 86 03 and Bit1 cont...

Page 48: ...rror was generated in This parameter is only valid if it is read from the ERROR task after a run time trip has occurred The values will have the following meanings A value of zero will be returned if...

Page 49: ...i e highest resource usage that Pr 88 04 reaches since the monitoring was enabled Pr 88 03 It will give a realistic indication of the worst case available resources for the motion engine tasks so tha...

Page 50: ...feedback device or scaling configured in the drive The lower 16 bits give the fine position as available from the feedback device scaled to 65536 For standard encoders this will typically be zero but...

Page 51: ...encoder revolution count Provides a definitive method of identifying the mode the drive is in It is recommended that this parameter is used instead of Pr 11 31 or Pr 00 48 since those parameters indi...

Page 52: ...ue of Pr 18 31 Application menu 1 bit 1 b6 Sets the value of Pr 01 46 Preset select bit 1 b5 Sets the value of Pr 01 45 Preset select bit 0 b4 User trip Trips drive immediately if set b3 Sets the valu...

Page 53: ...on Access RO Range Unsigned 16 bit Default N A Update Rate On Event Apps Apps Lite Apps Plus Lite V2 ST Plus ST Indexer Pr 90 13 Event1 task schedule reason Access RO Range Unsigned 16 bit Default N A...

Page 54: ...can be used to communicate with the encoder connected via serial comms with the drive Pr 90 18 Feedback Encoder Freeze Flag Access RW Range 0 1 Default N A Update Rate 250 s Apps Apps Lite Apps Plus...

Page 55: ...volution count The database version number is read from the database after power up Pr 90 23 Drive Encoder Comms Receive Register Access RW Range Unsigned 16 bit Default N A Update Rate Immediate Apps...

Page 56: ...oders Pr 90 28 Reference Encoder Freeze flag Access RW Range 0 1 Default N A Update Rate 250 s Apps Apps Lite Apps Plus Lite V2 ST Plus ST Indexer Pr 90 29 Reference Encoder Freeze Position Access RO...

Page 57: ...38 for description Pr 90 33 Feedback Encoder Freeze Turns and Coarse Position Access RO Range Signed 32 bit Default N A Update Rate 250 s Apps Apps Lite Apps Plus Lite V2 ST Plus ST Indexer Pr 90 34...

Page 58: ...alue it will execute one of the Second Processor Event tasks Pr 90 38 Reference Encoder Marker Turns and Coarse Position Access RO Range Signed 32 bit Default N A Update Rate See Pr 81 16 Apps Apps Li...

Page 59: ...for the reference and feedback data See the table below for the valid sources See Pr 90 46 for description Pr 90 41 Reference Encoder Marker Flag Access RW Range 0 1 Default N A Update Rate See Pr 81...

Page 60: ...the Advanced Position Control User Guide Pr 90 46 Feedback Marker Flag Enable Access RW Range 0 1 Default N A Update Rate Immediate Apps Apps Lite Apps Plus Lite V2 ST Plus ST Indexer Pr 90 47 Refere...

Page 61: ...0 of Pr 91 01 is set and the full scale speed in Pr 91 05 is set accordingly when using this parameter Controls the hard speed reference on the drive in units of 0 001RPM Ensure bit 1 of Pr 91 01 is...

Page 62: ...not a slot number This can only happen if Pr 03 26 on the Unidrive SP is set to a zero However if a low resolution encoder is used there may be some jitter at low speed For example at 10rpm with a 10...

Page 63: ...logue inputs This value will be taken from the drive s analogue input 3 and is scaled for 1023 to represent the full scale signal at the input Refer to the Drive User Guide for information on the samp...

Page 64: ...91 11 and Pr 91 12 will only be transferred if the drive analogue outputs are not in high speed mode The values are not scaled by the drive and the specified analogue output drive mode parameters will...

Page 65: ...scheme For more information refer to Chapter 10 Inter option Synchronization on page 104 Pr 91 18 Number of Bad CTSync Messages Received Access RW Range Signed 32 bit Default N A Update Rate Apps App...

Page 66: ...of these modules will have this bit clear For a module attempting to become inter module synchronization Consumer it indicates that it has not requested to become Producer and that a Producer has bee...

Page 67: ...s but may be read only on the drive s keypad This parameter is automatically saved by the drive on power down Pr 1x 11 Pr 1x 50 are saveable in the drive s non volatile memory Pr 1x 01 Integer read wr...

Page 68: ...e 32 bit parameters and are reserved for the internal motion processor They can be read and written to from the user program but are not accessible by the LCD or LED keypads This menu is NOT saved in...

Page 69: ...NSI and a run time error 49 may occur The baud rate is specified in Pr 81 07 The address of this unit is specified in Pr 81 05 6 1 1 CT ANSI The Second Processor supports the ANSIx3 28 protocol All dr...

Page 70: ...A decimal point is optional This can appear at any point in the data field but not before the sign or before 10 numbers i e the value written should not have more than 9 decimal places If the decimal...

Page 71: ...P2 D1 D2 Dn ETX The checksum is an unsigned 8bit value and if this value is less than 32 then 32 is added to it 6 1 1 3 Second Processor address The Second Processor will only act on messages receive...

Page 72: ...am RtuReadHoldingRegs RtuReadHoldingParas RtuReadInputRegs RtuPresetMultipleRegs RtuPresetMutlipleParas RtuMasterReply RtuMasterStatus 6 1 2 1 FC03 Read multiple registers Read a contiguous array of 1...

Page 73: ...sters The slave imposes an upper limit on the number of registers which can be written If this is exceeded the slave will discard the request and the master will timeout The following tables show the...

Page 74: ...egister data to write in bytes 7 Register data 0 MSB 8 Register data 0 LSB 7 byte count CRC LSB 8 byte count CRC MSB Table 6 10 Slave response Byte Description 0 Slave source node address 1 Function c...

Page 75: ...HAR and GETCHAR commands 6 2 CTNet Please see Features section on pages 8 9 10 for availability on your module Full details of CTNet are outside the scope of this User Guide and can be found in the se...

Page 76: ...raight to the Second Processor in slot 1 As there is no Second Processor fitted in slot 1 an error message will be returned indicating that the parameter does not exist If for example an SM DeviceNet...

Page 77: ...references so data transfer must be done another way If the Second Processor in slot 1 wanted to read register Pr 71 08 from the Second Processor in slot 3 this must be done through one of the 32bit...

Page 78: ...NE statement For example it is good practice to use aliases to give names to all drive parameters used in a program It is also recommended to have the alias name in UPPER case letters in order to help...

Page 79: ...k executed on a fixed timebase between 1 200 ms used for some time related operations for example to generate a ramp profile This task is now synchronised to the drive s level 2 control loop and can b...

Page 80: ...has completed 3 CLOCK task interrupts BACKGROUND task The drive controls when the CLOCK task will execute BACKGROUND task is suspended 4 CLOCK task has finished and now the BACKGROUND task can contin...

Page 81: ...ing Point variable is denoted by the lack of a symbol Example of variables A special statement is placed at the start of the program to declare what type of floating point variable is used throughout...

Page 82: ...le the first element of myarray is myarray 0 and the last is myarray 19 Two functions are provided that can be used at run time to determine the upper and lower bounds of an array These are UPPER and...

Page 83: ...r of the register sets are also saveable in the Second Processor Flash memory See section 5 4 Menus 70 75 PLC Registers on page 43 for further information on PLC registers 7 3 10 RAM files RAM files e...

Page 84: ...is command with fixed point integer the decimal places will be automatically removed For example parameter Pr 1 19 has a range of 0 000 0 099 Reading the parameter using will return integer values bet...

Page 85: ...e not present in the UD70 for Unidrive 1 FOR loop This is new to the Second Processor CASE This provides an alternative to the IF ELSEIF ENDIF construct Subtraction Bitwise AND Bitwise OR Bitwise excl...

Page 86: ...square brackets is optional The CASE statements operate in the same way as programs like Visual Basic in that the program flow will NOT drop through to the next CASE as it does in the C programming l...

Page 87: ...ction on pages 8 9 to see if CTNet is available on your Second Processor This returns diagnostic information for CTNet Refer to on line help This replaces the special variables such as NOFMESSAGES tha...

Page 88: ...resetParas RtuMasterReply RtuMasterStatus These commands are implemented to allow the user to utilise the SM Applications SM Applications Plus and Digitax ST Plus modules Modbus RTU master functionali...

Page 89: ...i e parameter does not exist 65539 NAK received 65540 ACK received Result ANSIREADN 12 1811 perform ansi read has message been sent successfully IF Result 0 THEN message not sent successfully goto to...

Page 90: ...s own right and therefore can consist of a mixture of raw DPL commands FBD and QLD diagrams and other UDFB s Note however that you cannot create standard task sections such as POS0 with a UDFB 7 7 2 S...

Page 91: ...s i e case sensitive and must start with a letter not a number The length of input argument names is not limited however the FBD and QuickLD editors within SyPTPro will only show the first 5 character...

Page 92: ...Issue Number 4 Below is an example of a simple UDFB that adds two numbers and scales by a pre defined amount 0 5 Output _simplefb Input1 Input2 Initialization code Scale 500 initialise a local variabl...

Page 93: ...eze Input The encoder revolution counter is cached into Pr 90 30 and the encoder position is cached into Pr 90 29 Figure 8 2 SM Apps SM Apps Plus Digitax St Plus Feedback Freeze Input The encoder revo...

Page 94: ...Figure 8 3 Apps Lite Apps Lite V2 and Digitax St Indexer Reference Freeze Input The encoder revolution counter is cached into parameter Pr 90 29 and the encoder position is cached into Pr 90 30 When f...

Page 95: ...by setting parameter Pr 81 43 to either 0 rising edge or 1 falling edge Pr 81 42 enables the position to be written to Pr 90 19 and Pr 90 29 and the revolution counters to be written to Pr 90 20 and P...

Page 96: ...pulse Figure 8 6 Second Processor Feedback Marker The marker position is cached into Pr 90 25 and the marker revolution counter is cached into Pr 90 26 The user sets Pr 90 42 to a zero and the drive s...

Page 97: ...d to participate in the CTSync scheme The Master generates reference data which is transmitted to all Slaves on the network The Master can be set to operate as a Slave if for instance two drives need...

Page 98: ...he reference data created by the CTSync Master It can be used on both the Master and Slaves The block returns the values of the last Master references received Output Arguments Status 1 OK 0 Zero or t...

Page 99: ...block causes the specified channel to cease writing it s data to the Unidrive SP Input Arguments Channel 1 2 or 3 for the 3 available channels Output Arguments Result 1 Operation succeeded 1 Invalid...

Page 100: ...ing the CTSYNCGetSlaveReferences function block 5 The reference data is output by the CTSYNCWriteOutputChannel function block if required to the channels specified 6 The Slave output values are writte...

Page 101: ...tual Slaves CTSync Slave Motion Engine uses reference POS0 APC POS1 CTSync Slave output result written to DASIC Also Update of APC Encoder positions DASIC value written to Drive POS0 APC POS1 POS0 APC...

Page 102: ...us REINIT Set up Virtual Master Ramp Reference Ramp 0 Configure Slave output channel 1 to menu 18 parameter 11 CTSYNCSetupOutputChannel 1 18 11 Enable the configured output channel CTSYNCEnableOutputC...

Page 103: ...he Virtual Master Initial 81 06 26 CTSync Slave 81 12 2 Pos task at 500us REINIT Set up Virtual Master Ramp Reference Ramp 0 Configure Slave output channel 1 to menu 18 parameter 11 CTSYNCSetupOutputC...

Page 104: ...ger from the Producer If a module is a Consumer and its position control task is set to run slower than that of the Synchronization Signal trigger from the Producer then it will be impossible for it t...

Page 105: ...e with each other as shown in Figure 10 1 POS Task Execution BEFORE Inter option Synchronization After setting the parameters to the values shown above the POS tasks will be executing in phase with ea...

Page 106: ...ber 4 Figure 10 2 POS Task Execution AFTER Inter option Synchronization Slot 1 2 3 250 s 250 s 250 s 250 s 250 s 250 s 250 s 250 s 250 s 250 s POS0 Unidrive SP1 POS0 tasks in phase POS0 POS0 POS0 POS0...

Page 107: ...1 default Not in CTSync scheme Pr 81 12 2 500 s position control task period Pr 91 21 2 Inter Option Sync Consumer Pr 91 22 6 Inter Option Sync Consumer status achieved Slot 2 Pr 81 06 1 default Not...

Page 108: ...sks may be executing out of phase with each other as shown in Figure 10 3 POS Task Execution BEFORE Inter option Synchronization with CTSync After setting the parameters to the values shown above the...

Page 109: ...ide Quick Reference Index Figure 10 3 POS Task Execution BEFORE Inter option Synchronization with CTSync Slot 1 2 3 250 s 250 s 250 s 250 s 250 s 250 s 250 s 250 s 250 s 250 s POS0 Unidrive SP2 POS0 P...

Page 110: ...3 250 s 250 s 250 s 250 s 250 s 250 s 250 s 250 s 250 s 250 s Unidrive SP2 POS0 POS0 POS0 POS0 POS0 POS0 POS0 POS0 POS0 POS0 POS0 Module unable to synchronise Slot 1 2 3 250 s 250 s 250 s 250 s 250 s...

Page 111: ...0 runs first followed by the APC which is followed by POS1 Because the POS0 and APC tasks may not take the same time to execute on different modules the APC and POS1 tasks cannot be phased Therefore w...

Page 112: ...is is detailed in section 11 3 below 11 2 Drive Display Trip Codes The table below shows the possible trip codes that will be displayed on the drive when an error is detected in the Second Processor w...

Page 113: ...sor Error Code Access RO Range 0 to 255 Default N A Update Rate On error Apps Apps Lite Apps Plus Lite V2 ST Plus ST Indexer Pr 81 14 Global Run time Trip Enable Access RW Range 0 1 Default 0 Update R...

Page 114: ...n restored If this problem persists it may indicate a hardware failure so contact your supplier Yes Yes Not Run 59 Drive rejected application module as Sync master Yes Yes Yes 60 CTNet hardware failur...

Page 115: ...cleared to zero on reset and when the user program execution is started 74 Over temperature Yes Yes Yes 75 Hardware unavailable The user program attempted to access unavailable hardware e g if access...

Page 116: ...enable or disable monitoring of the motion engine tasks free resource When set to 1 parameters Pr 88 04 and Pr 88 05 become active If set to zero parameters Pr 88 04 and Pr 88 05 will read zero This...

Page 117: ...unning the Clock task If this parameter value reaches zero a task overrun will occur It is calculated every Clock period and is displayed for the previous motion engine period This parameter shows the...

Page 118: ...d Processors fitted with V01 04 07 V01 00 01 firmware The table below shows how to construct the full firmware version from these values Pr 81 02 Firmware Major Version Access RO Range 00 00 to 99 99...

Page 119: ...menu 17 It is strongly advised that new user DPL programs that change setup parameters are altered to use menu 81 which will eliminate the need to determine which of menu 15 16 17 is being used The ta...

Page 120: ...e now an extra 200 saveable registers available These are in register banks T and U or menus 74 and 75 The P Q R S register sets remain as they were however since there is no built in position control...

Page 121: ...been added This provides a float to integer conversion truncating rather than rounding the result Floating point comparison With the UD70 a rather imprecise and unpredictable fuzzy compare was used fo...

Page 122: ...eters have moved from menu 20 to the option menu 15 16 17 81 The special diagnostic variables such as NOFMESSAGES are no longer supported Instead a new function block CTNETDIAGS returns the diagnostic...

Page 123: ...nstead of the older Speed Torque and Encoder tasks The Clock task will be recommended as an alternative to using a Pos task in place of an Encoder task 2 Differences in the Unidrive SP or SM Applicati...

Page 124: ...1 Pr 81 14 Global run time trip enable Section 5 3 1 on page 33 0 1 0 Pr 81 15 Disable Reset on Trip Cleared Section 5 3 1 on page 33 0 1 0 Pr 81 16 Encoder Data Update Rate Section 5 3 1 on page 34...

Page 125: ...0 0 255 0 Pr 81 45 User Setup Parameter 1 Section 5 3 1 on page 40 N A N A Pr 81 46 User Setup Parameter 2 Section 5 3 1 on page 41 N A N A Pr 81 47 User Setup Parameter 3 Section 5 3 1 on page 41 N A...

Page 126: ...a parameter within a DPL program If parameter MM 17 0 the value written will be automatically limited and no error will occur May Yes Yes 45 Invalid synchronization modes Yes No Not Run 46 Unused N A...

Page 127: ...he trip threshold is 20mA Yes Yes Yes 65 Invalid function block parameter s You have called a FB within a DPL program but one or more of the inputs are invalid Yes Yes Yes 66 User heap too large The p...

Page 128: ...ected and Reset Index or Reset Position in segment is out of range May Yes Yes 82 Communcations to drive faulty May Yes Yes Table 13 6 Terminals Terminal Function Description 1 0V SC 0V connection for...

Page 129: ...ions 16 18 CTNet 16 17 21 122 CTSync 97 D Diagnostics 112 Digital I O 46 125 Downloading 27 DPL 25 78 85 121 E Error Codes 113 F Firmware 118 Firmware Version 118 Freeze 93 94 H Hardware 121 I Install...

Page 130: ...rs User Guide Issue Number 4 SMARTCARD 14 SM LON module front view 14 Status 126 SyPTLite 21 24 SyPTPro 21 22 23 T Tasks 79 121 Terminals 128 Termination 17 19 Timer 44 Timer Unit 125 Trip Codes 112 U...

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