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Quick Introduction

Operating Manual XCx 300 / 500 / 540 Version 09/08

5.6

CANopen for Remote I/O

5.6.1

Specifications



CANopen operates with two types of telegram:

SDO

(service data objects) are telegrams that have to be

confirmed

by the recipient,

PDO

(process data objects) are telegrams that

do not

have to be

confirmed

by the recipient.



The PDOs for data exchange are defined during network
configuration and given a COB ID. The recipient of a message
always knows which telegram is addressed to which node.



Certain components only use default mapping and work with fixed
COD IDs, which are defined in the CANopen Definition.



The standard communication for PDO is

COS

(Change Of State):

A PDO is only sent if the information in the PDO changes.

CANopen

Содержание XCx 300

Страница 1: ...Operating Manual XCx 300 500 540 CompactControllers forPLCand CNCSolutions OperatingManual XCx 300 500 540 Version09 08 Part No R4 322 2140 0 322 38383...

Страница 2: ...ad all our programming and operating manuals free of charge from our web site at http www schleicher berlin or order them by writing to the following address please quote order no Schleicher Electroni...

Страница 3: ...RS232 interface 34 4 2 2 Setting the IP address of the service PC 34 4 2 3 Setting up and checking the Ethernet connection 35 4 3 Changing the IP Address of the XCx 35 4 4 Installing the MULTIPROG Add...

Страница 4: ...Blocks 83 6 4 Parameterizing and Diagnosis Functions 84 6 4 1 Function 1 Set and read CANopen node number 85 6 4 2 Function 2 Set and read data transmission rate 85 6 4 3 Function 7 Output CANopen er...

Страница 5: ...132 12 6 Technical Data XF DPS 132 12 7 PROFIBUS DP Configuration Data 133 13 Error messages 135 13 1 Structure of Error Messages 135 13 2 PLC Error Messages 137 13 2 1 0x0100 PLC runtime error 137 13...

Страница 6: ...on 09 08 17 2 Selection and Qualification of Personnel 174 17 3 Configuring Programming Installation Commissioning and Operation 175 17 4 Maintenance 175 17 5 High Voltages 175 17 6 Dealing With Used...

Страница 7: ...zur Vermeidung der Gef hrdung Important or Note Important information on the handling of the automation system or the respective part in the operating manual Other objects are represented as follows...

Страница 8: ...property or present health hazards However improper configuration installation maintenance or operation of the system or machine ignoring the instructions in this manual or intervention by insufficien...

Страница 9: ...0 will apply Safety related components on the controlled machine must be designed such that they operate independently from the control system Emergency stop components must be operational in all cont...

Страница 10: ...be replaced when the power is switched off Disassembly and assembly must be carried out according to the directives for mechanical assembly Fuses may only be replaced with those types specified in Te...

Страница 11: ...d technische Daten der XCx 300 XCx 500 und XCx 540 Modul bersicht XCx 300 economy With PLC operating system and optional CNC operating system up to 4 NC axes option of using one expansion module XCx 5...

Страница 12: ...S 232 programming device interface DRV Option functional expansion with one expansion module here connection of digital servo drives EtherNet RJ 45 connection for networking and programming via TCP IP...

Страница 13: ...MMI RS 422 operator panel interface USB USB port as additional programming device interface XRIO Interfacing of RIO bus nodes for flexible implementation of direct digital and analog I Os counters and...

Страница 14: ...programming device interface XRIO Interfacing of RIO bus nodes for flexible implementation of direct digital and analog I Os counters and positioning of NC axes CANopen CANopen field bus connection Et...

Страница 15: ...trically conductive metal carrier board Note To protect the devices against electrostatic discharge operating personnel must discharge any electrostatic charge they may be carrying before opening encl...

Страница 16: ...to an electrically conducting carrier board DIN rail installation is sufficient for normal mechanical loads For higher mechanical loads please refer to Fixing with screws only XCx 500 and XCx 540 Asse...

Страница 17: ...Installation Operating Manual XCx 300 500 540 Version 09 08 17 The RIO expansion modules must be fixed on the same DIN rail with the XCx 300 Figure 8 Installation RIO expansion modules with XCx 300...

Страница 18: ...controller must be attached with a good electrical connection to an electrically conducting carrier board Use 4 M4 machine screws with toothed lock washers The fixing holes for fixing with screws are...

Страница 19: ...40 Version 09 08 19 3 1 5 Connecting the voltage supply XCx Figure 10 Connecting the voltage supply XCx 300 If no shield rail is used the metal carrier board can be connected to ground PE at a central...

Страница 20: ...ecting the voltage supply XCx 500 and XCx 540 If no shield rail is used the metal carrier board can be connected to ground PE at a central point 1 The earthable point 2 on the back of the device can b...

Страница 21: ...cure them with an end clip Figure 12 End clips with XCx 300 The orange slide contacts on top of the module connect the modules to the bus coupler Make sure that the slide contacts are open when actuat...

Страница 22: ...Installation 22 Operating Manual XCx 300 500 540 Version 09 08 Figure 13 Slide contacts RIO with XCx 300...

Страница 23: ...rease interference immunity this terminal must be connected to ground or PE potential with a conductor which is as short as possible 2 5mm 2 The contact spring located in the module clamp base is used...

Страница 24: ...relay terminals are used to relay the power supply from one module to the next the current on each relay terminal must not exceed a specific value Make sure that the load on a terminal does not excee...

Страница 25: ...isplays 7 X6 ETH RJ 45 EtherNet Connection 8 Slot for expansion module 9 CompactFlash XCx 500 XCx 540 1 LED Displays 2 CompactFlash 3 X7 PRG RS232 Interface for programming devices 4 X6 ETH RJ 45 Ethe...

Страница 26: ...Frame error RUN ERROR CPU status OFF No operating voltage green ON Operating voltage ok no error red ON CPU not running watchdog Flashing CPU has detected a fatal error PLC RUN SPS status OFF PLC stop...

Страница 27: ...ON Operational Flashing Pre Operational red Frame error CAN NET CAN network status OFF CAN state prepared green ON CAN state operational Flashing CAN state pre operational red ON Bus Off Flashing CAN...

Страница 28: ...st of data or watch dog events can occur when not pay attention to this definitions 4 4 X7 PRG RS232 Interface for Programming Devices X7 Subminiature 9 pin plug connector Pin Designation Explanation...

Страница 29: ...eceived data plus 2 TD Transmitted data plus 3 0 V Ground Power supply 4 Not connected 5 5 V Power supply 6 RD Received data minus 7 TD Transmitted data minus 8 Not connected 9 Not connected 4 8 X3 US...

Страница 30: ...contact PLC running 24 V Supply voltage DC 24 V M Supply voltage ground 24 V ext Supply voltage DC 24 V direct inputs outputs Mext Supply voltage ground direct inputs outputs I O 1 Direct input outpu...

Страница 31: ...erating Manual XCx 300 500 540 Version 09 08 31 4 12 RESET Button The RESET button causes a hardware reset equivalent to power off The RESET button functions only in PROG mode see Mode Switch 4 13 IRD...

Страница 32: ...mmunication 5 1 1 Communication connections Figure 14 Connecting the service PC to the XCx 5 1 2 Starting up the serial connection via the RS232 interface A connection via the serial interface is very...

Страница 33: ...In Properties of Connect To select direct connection via COM1 and then click the Configure button Set the following parameters in Properties of COM1 Switch the XCx on or RESET The boot log appears in...

Страница 34: ...ff00 u target pw target tn X Cx value The IP address 192 168 1 2 subnet mask 255 255 255 00 username u target and password pw target are in the line e 5 2 2 Setting the IP address of the service PC 1...

Страница 35: ...pinging Response from 192 168 1 2 Response Response Response If the XCx is not recognized an error message will appear Check the IP address and the cable connections 5 3 Changing the IP Address of th...

Страница 36: ...255 255 0 UserName target Password target Save the file and copy it back to the compact flash on the XCx If the file cannot be copied you will have to cancel the read only attribute in the BootLine i...

Страница 37: ...lled in this order and separate Two CD ROM are delivered with the controller Name Content Part no MULTIPROG MULTIPROG programming software OPC Server 320 385 65 Service Pack Software for all Schleiche...

Страница 38: ...croLine and ProNumeric ProSycon controllers is already installed the installed version must not be overwritten In this case you will have to install MULTIPROG in a different folder Next step install O...

Страница 39: ...Manual XCx 300 500 540 Version 09 08 39 Next step Install AddOns for MULTIPROG Put the CD named Service Pack in the drive The auto run function of the CD will start the Internet Explorer Choose AddOns...

Страница 40: ...ion 40 Operating Manual XCx 300 500 540 Version 09 08 Enter the current ProCANopen version here 3 2 You will need ProCANopen later for starting up the CANopen network You do not have to restart the PC...

Страница 41: ...ULTIPROG and opening a new project Start MULTIPROG and select File New Project Select a project XCS3xx in this case and open with OK Answer Yes to all questions concerning conversion of libraries If t...

Страница 42: ...Save the project under a new name with File Save Project As 5 4 3 Setting the Ethernet connection in MULTIPROG In the Resource project tree Click with the right mouse button on XCS3xx to open the con...

Страница 43: ...nformation are displayed here Click the selection box for error warning etc to display the message in more detail If errors are displayed you can jump directly to the line of the PLC program that caus...

Страница 44: ...Quick Introduction 44 Operating Manual XCx 300 500 540 Version 09 08 With the Debug on off button see arrow you can display the content of the variables online on the worksheet...

Страница 45: ...XRIO connection Figure 15 XRIO connection to XCx 5 5 2 Example of an XRIO configuration This configuration example is used in the following sections Module RIO 16I RIO 16O Inputs not debounced IB0 IB1...

Страница 46: ...figuration When you install AddOns see MULTIPROG installation an XRIO configurator is provided It completely automates XRIO driver insertion and XRIO variable declaration You can start the configurato...

Страница 47: ...the Get configuration button to read the actual XRIO configuration You only have to select the task here XRIOTsk to which the XRIO driver is to be bound If no XRIO hardware available it is possible to...

Страница 48: ...ized and the variable declaration is inserted In the MULTIPROG project tree the variable declaration for the configuration described above has been entered under Global_Variables For the RIO 16 I inpu...

Страница 49: ...am First the I O variables have to be declared Click on XRIODemoV and make the following entries It is important to describe usage with VAR_EXTERNAL because the I O variables are predefined as global...

Страница 50: ...ULES modules state XRIO_STATE_1 STATE modules XRIO_STATE_1 MODULES error XRIO_STATE_1 ERROR enable FALSE Variables card USINT enable BOOL error WORD modules XRIO_ModInfoType state XRIO_StateType TYPE...

Страница 51: ...e telegrams that do not have to be confirmed by the recipient The PDOs for data exchange are defined during network configuration and given a COB ID The recipient of a message always knows which teleg...

Страница 52: ...which serves as an example for further startup steps Subminiature 9 pin socket connector to CAN card in PC Subminiature 9 pin socket connector to XCx X5 Open style connector on RIO 8 I O CANopen Pin P...

Страница 53: ...pen The I O driver for the CANopen network is declared at the same place and in the same way as the XRIO driver The IO_Configuration container is at the end of the project tree I O configurations CAN_...

Страница 54: ...Quick Introduction 54 Operating Manual XCx 300 500 540 Version 09 08 Driver name CANIO must be set in Driver parameters the data type is DWORD...

Страница 55: ...le in MULTIPROG The required variables are predefined in the Network_Variables folder in Global_Variables in the project tree window I O bits are declared in the I_O_Variables worksheet with addresses...

Страница 56: ...s been configured the NMT manager can start the CAN network Starting the network means status operational and data exchange by PDOs process data objects 5 6 7 Installing ProCANopen To install ProCANop...

Страница 57: ...dOns EXE prepares MULTIPROG so that ProCANopen can be started directly from MULTIPROG Select Extras ProCANopen configuration tool Then you can select the XCx CAN card In the example only the single st...

Страница 58: ...ual XCx 300 500 540 Version 09 08 5 6 9 First connections with ProCANopen First you have to read in the network Because the network is already configured with node 1 XCx you have to read in with the S...

Страница 59: ...Version 09 08 59 Then you can configure the network node connections Click with the right mouse button on the XCx select Graphic connection in the context menu of the node then click on the node to w...

Страница 60: ...node 1 XCx as the configuration manager You can save the configuration in the configuration manager using Store in network The XCx saves the data in the compact flash When it is switched on the networ...

Страница 61: ...sion 09 08 61 To test the network connection you have to create a new POU here CANdemo and instance it in the CanTsk The CANdemo POU with the associated variable worksheet If 24 V is connected to inpu...

Страница 62: ...hin client for data visualization The application HTML JavaScript Java is loaded by the controller and runs in a shell Other visualization patches have to be installed on each operator panel Webfactor...

Страница 63: ...er can read and write the variables in this list 5 7 4 Application example The XCx is supplied with a standard browser application This application allows you to read and write PDD marked variables A...

Страница 64: ...cted directly to X4 on the XCx using a 9 pin subminiature D connector cable Max 4 bus couplers RIO EC X2 can be connected to the XCx The max cable length is 10 meters between two connection points Use...

Страница 65: ...s after reset via the MULTIPROG project control dialog and when a new project is created in MULTIPROG only in system information ata0 OS logfiles sysinfo txt see The sysinfo txt file The information o...

Страница 66: ...13 End address XRIO_C01M01 Name RIO 16I Module name ID 6 Module ID Type DIGITAL Module class IB 4 4 input bytes 2 non debounced 2 debounced QB 0 0 output bytes IB 0 first input byte of module byte add...

Страница 67: ...nput byte of module byte address 6 IB 6 not debounced IB 7 not debounced IB 8 debounced IB 9 debounced QB 4 first output byte of module byte address 4 QB 4 dummy QB 5 XRIO_C01M05 Name RIO 4AI 4AO 20mA...

Страница 68: ...utputs always occupy 1 word This ensures an even start address for the following modules Module RIO 16I RIO 8I 8I O RIO 8I O RIO 16O Inputs not debounced IB0 IB1 IB4 IB5 IB8 Inputs debounced IB2 IB3 I...

Страница 69: ...rocess data outputs zeroed automatically on PLC STOP One I O refresh carried out per task cycle DRIVER_PAR1 Bit 0 Not used DRIVER_PAR1 Bit 1 Not used DRIVER_PAR1 Bit 2 Ignore differences between confi...

Страница 70: ...aud and 1stop bit 61 4 x 2 75 s 4 x 4 s 9 x 1 s 10 s 0 214 ms measured 0 20 ms 4 Mbaud and 2 stop bits 61 4 x 3 00 s 4 x 4 s 9 x 1 s 10 s 0 230 ms measured 0 21 ms 500 kbaud and 1stop bit 61 3 x 22 00...

Страница 71: ...ion system RIO 8 I O 8 combination I Os All combination I Os can be used individually as inputs DC 24 V or outputs 1 A RIO 8 I 8 I O 8 inputs DC 24 V 8 combination I Os All combination I Os can be use...

Страница 72: ...on 12 bits RIO 4AI 20mA 4 inputs analog Resolution 12 bits RIO 4AI 4AO 10V 4 inputs analog 4 outputs analog Resolution 12 bits RIO 4AI 4AO 20mA 4 inputs analog 4 outputs analog Resolution 12 bits Curr...

Страница 73: ...32 bit RIO A10 10 Interface of one Axis Positioning module RIO P05 10 Positioning of two axes 5 V counter inputs RIO P24 10 Positioning of two axes 24 V counter inputs Potential distributor terminal e...

Страница 74: ...0x000D 0x62 RIO P24 10 COUNTER 10 2 10 11 0x000E 0x16 RIO T10 10 ANALOG 8 0 9 0x000F 0x1E RIO 4AI 0 10V ANALOG 8 0 9 0x0010 0x18 RIO 4AI 4AO 4 20 ANALOG 8 8 9 0x0011 0x1A RIO 4AI 4 20mA ANALOG 8 0 9...

Страница 75: ...L1 not used L2 green on Operational green flashing Preoperational red on Bus error yellow on Frame error L3 not used L4 not used Connector X31 Pin Designation 1 RD Received data plus 2 TD Transmitted...

Страница 76: ...ation managers or masters carry out functions such as network management during network start up However they are not necessary for communication between the slaves In theory up to 127 stations are po...

Страница 77: ...ng for PDOs You can find a list of mappable objects in Parameterizing and diagnosis data and Network variables 7 1 2 Service Data Objects SDO Spec al SDO objects are available for reading writing up t...

Страница 78: ...ding functions must be activated To activate lifeguarding the NMT manager must describe the Guard Time 100Ch and the Life Time Factor 100Dh objects If the monitoring time Life Time Life Time Factor Gu...

Страница 79: ...DWord Depending on IO configuration Direct NVs output data 0xa4c0 IB Input Byte 0xa580 IW Input Word 0xa680 ID Input Dword Depending on IO configuration General NVs input data 0xa040 QB Output Byte 0x...

Страница 80: ...utputs not zeroed automatically on PLC STOP DRIVER_PAR2 0 default Process map update without use of semaphores Guarantees 32 bit data consistency no consistency over the complete map Fast with low ove...

Страница 81: ...OUTPUT VAR_ADR 1256 CAN card network 1 END_VAR_ADR 1259 DEVICE DRIVER DRIVER_NAME CANIO DRIVER_PAR1 1 CAN1 Don t remove this label Declaration in PLC program VAR_GLOBAL mNVInput1 AT IW 1000 INT mNVOut...

Страница 82: ...mDiag1Output1 AT MW 3 1019996 UINT mDiag1Output2 AT MW 3 1019998 UINT VAR_END Here no maps are generated for the memory locations of the parameterizing and diagnosis functions 7 2 5 Accessing paramet...

Страница 83: ...500 540 Version 09 08 83 7 3 SDO Function Blocks Supported functions SDO write SDO read Read error and emergency entries More detailed descriptions can be found in the CiA Draft Standard 301 and the r...

Страница 84: ...ut and set startup delay range 1 60 s 21 101 Reserved 102 Output and set cycle time of CAN stack range 1 10 ms Reboot required 103 254 Reserved 255 Reset The PLC requests a function by entering the re...

Страница 85: ...127 N Current set node number 1 27 Node number 1 Node number 127 7 4 2 Function 2 Set and read data transmission rate P Parameter 0 Read current set data transmission rate 1 2 3 4 5 6 7 8 Set 10 kBaud...

Страница 86: ...irmware version is displayed in hexadecimal code 7 4 5 Function 20 Set CANopen startup delay P Startup delay in seconds default N Startup delay in seconds actual value When power is switched on the CA...

Страница 87: ...rom the CAN processor are entered in the active error buffer or the log book These entries can be displayed with the NC Dialog startup tool The error number can also be output by the PLC with diagnosi...

Страница 88: ...splay LED Colour L1 not used L2 not used L3 CAN Network status off CAN State Prepared green on CAN State Operational flashing CAN State Preoperational red on Bus Off flashing CAN Error L4 CAN Module s...

Страница 89: ...d level for the supervisor task The supervisor task is a system task with maximum priority The supervisor task detects errors such as division by zero and task time overrun and activates the appropria...

Страница 90: ...when essential operating system tasks are displaced See section Task Priorities You can use various types of user task 8 2 1 Cyclical tasks Cyclical tasks execute the programs assigned to them within...

Страница 91: ...roller task XCN only PLC_EVENT_CAN 5 CANopen task PLC_EVENT_IPO 6 CNC IPO task XCN only PLC_EVENT_DECO 7 CNC DECO task XCN only Reserved 8 15 The event number is used in the MULTIPROG task setting to...

Страница 92: ...executed if division by zero occurs during program execution User tasks are deactivated All outputs are updated The close function of the I O driver is executed PLC switches to STOP state SPG 12 STACK...

Страница 93: ...if variables with a data type 2 bytes and uneven addresses were used or an internal error has occurred in MULTIPROG Only on Motorola platforms User tasks are deactivated All outputs are updated The cl...

Страница 94: ...when all higher priority user tasks have been processed The default task is configured so that it uses some of the available residual time max 80 but is executed no more than one every 20 ms Only one...

Страница 95: ...sk name TaskPrio INT 14 Task priority TaskMode INT 16 Task mode TaskPeriod INT 18 ms Task period in ms TaskStack INT 20 Size of used task stack MainPoe INT 22 assigned PLC program Assigned PLC program...

Страница 96: ...ables are declared with TaskInfoType0 and TaskInfoType1 The following user task information is declared with an offset of 64 starting at 1004 1004 64 1068 etc The sequence of tasks is defined by the r...

Страница 97: ...H_PRIO 1 6 36 Any E g user task event 5 6 7 37 tfwIPO Reserved for IPO task XCN only 8 38 Any E g user task event 5 9 39 tfwCANhigh Reserved for CAN stack task option CAN_HIGH_PRIO 0 10 40 Any E g use...

Страница 98: ...tarts when the task is ready to execute The watchdog interval is defined in the Task einrichten Task Setup dialog in MULTIPROG If the execution time of the task and the watchdog time are roughly the s...

Страница 99: ...sk type in the Task Type list You can choose between default task cyclical task event task and system task Note If task type DEFAULT is not listed the resource already has a default task Confirm the d...

Страница 100: ...ask In this case the first program in the task directory will be executed first Then the next program will be executed and so on To insert programs you have to carry out the following steps in MULTIPR...

Страница 101: ...ing States and Starting Behaviour 9 2 1 Operating states Operating state Description POWER ON Power supply switched on No program loaded STOP Program loaded User tasks inactive Process map memory inpu...

Страница 102: ...Warm start Only non buffered data is initialized SPG 0 is called All user tasks are activated Program execution activated Stop Run Hot start No data is initialized All user tasks are activated Progra...

Страница 103: ...bit Description PLCMODE_ON BOOL 0 0 TRUE current PLC state is ON PLCMODE_RUN BOOL 0 1 TRUE current PLC state is RUN PLCMODE_STOP BOOL 0 2 TRUE current PLC state is STOP PLCMODE_HALT BOOL 0 3 TRUE cur...

Страница 104: ...o Numeric Pro SyCon MCS 20 20 MCS 20 21 Simulation PROCONOS BIT_UTIL CANopen_Vxxx o o CFB_Vxxx o o o o o o o o CNC_Vxxx Date_Time Microline MMI o o o o o o o o o o PLC_Vxxx Profibus_Vxxx o o o o o o o...

Страница 105: ...rLib You activate online help via the context menu of the respective library click on the library icon with the right mouse button Note Variable declarations in function block example programs The exa...

Страница 106: ...k node CO_NET_RECV_EMY 157 Reads any emergency messages from any network node CO_NET_RECV_ERR_DEV 160 Reads any error messages from a particular network node CO_NET_RECV_ERR 161 Reads any error messag...

Страница 107: ...meter SET_SERC_PHASE 304 Switching SERCOS communication phase SET_SERC_COMMAND 308 execute a SERCOS command MC_ANALOG 300 XRIO Motion Control block XCN MC_ANALOG_1_AXIS 307 XRIO Motion Control block o...

Страница 108: ...fined error message CLEAR_ERROR 402 Deletes an error message sent with a lock flag READ_FILE 405 File access read WRITE_FILE 406 File access write SEND_MAIL 410 Sends an E MAIL SMTP client XFIO_CONFIG...

Страница 109: ...haracters from serial interface PORT_STATE 139 Read status of a serial interface 9 4 9 SchleicherLib_Vxxx library XCx firmware data type definitions for MULTIPROG The library has no function blocks 9...

Страница 110: ...unication driver PC_SOCKET_DRV 1 yes 1 default no 0 max number of ProConOS clients for simultaneous access to controller PC_SOCKET_BLOG 4 default use the ProConOS serial 0 1 communication driver PC_SE...

Страница 111: ...f the shared RAM PLC CNC The used shared RAM variables must be includet in the PLC project Choose in MULTIPROG Extras PLC CNC shared memory Set the number of CNC subsystems and the number of CNC axes...

Страница 112: ...the individual user tasks For the CNC The total runtime of the user tasks with priority 0 to 2 must not exceed half the runtime of the position controller task priority 3 The user task running synchr...

Страница 113: ...erface with SLM protocol Speed Loop Motor protocol for data transfer to and from SLM drives and actuators made by Control Techniques Drives Ltd Via this module the XCN can execute positioning and posi...

Страница 114: ...unication channel 2 permanent green Communication ok permanent red Communication error L3 red green Communication channel 3 permanent green Communication ok permanent red Communication error L4 red gr...

Страница 115: ...s for two more drives These are provided specially for MultiAx drives made by Control Techniques But note that there is only one hardware enable for all axes X12 D2 drive Pin Designation Comment 1A CO...

Страница 116: ...nnected 1D HWEN4 Hardware Enable 2D nc not connected 1E 24V EXT External power supply 2E GND EXT External power supply X15 E1 and X16 E2 incremental encoders interrupt sensing inputs Pin Designation C...

Страница 117: ...Physics RS 485 2 5 Mbaud Protocol Control Techniques ASIC CT2239 003 Hardware Enable HWEN1 HWEN2 HWEN3 HWEN4 Number 4 Switching level H level 24V EXT 0 5 V L level 1 V Output current 0 5 A Signal dela...

Страница 118: ...nterfaces RS 485 RS 485 RS 485 RS 485 COM1 COM1 COM2 COM2 COM3 COM3 HWEN1 24V EXT GND EXT X11 COM2 COM2 HWEN2 24V EXT GND EXT X12 COM3 COM3 HWEN3 24V EXT GND EXT X13 COM4 COM4 HWEN4 24V EXT GND EXT X1...

Страница 119: ...coder inputs The inputs are currently only available as hardware a software interface is in preparation Interrupt inputs Tracers can be connected to the interrupt inputs There are 2 interrupt inputs o...

Страница 120: ...tor motors from Control Techniques are to be connected to an XCN with the SLM drive module XP SLM The drives are connected to the controller via connectors X1 and X2 The diagram shows the basic wiring...

Страница 121: ...XP SLM on MultiAx 15 pin high density submin This type of wiring is recommended only if the modification with the electronic fuse is implemented in MultiAx Without this protective measure the wiring i...

Страница 122: ...0 500 540 Version 09 08 11 1 6 2 Notes on MultiAx If position data is required when the drive power supply AC is switched off you will have to connect an external 24V power supply to MultiAx MC FNC Pi...

Страница 123: ...Module XP SLM Operating Manual XCx 300 500 540 Version 09 08 123 11 1 7 Wiring example with M Ax 11 1 7 1 SLM Drive Module XP SLM on M Ax 15 pin high density submin 11 1 7 2 SLM Drive Module XP SLM on...

Страница 124: ...8 11 1 7 3 Notes on M Ax If position data is required when the drive power supply AC is switched off you will have to connect an external 24V power supply to M Ax MC EIA485 Pin 5 and 4 Pin assignment...

Страница 125: ...540 Version 09 08 125 12 SERCOS Module XP SRC The SERCOS XP RC drive module provides a SERCOS ring on which up to 8 independent SERCOS drives can be operated via optical fiber SERCOS master acc to IEC...

Страница 126: ...en re d SERCOS startup phase green on Phase 2 complete red on Phase 2 not complete L3 SERCOS PHASE 3 green re d SERCOS startup phase green on Phase 3 complete red on Phase 3 not complete L4 SERCOS PHA...

Страница 127: ...ERCOS ring Physics Plastic optical fiber 2 4 8 16 MBaud Controller SERCON 816 Cycle time 1 ms 30 ms Connection system SERCOS optical fibre connection IN OUT F SMA screw connections acc to IEC 874 2 12...

Страница 128: ...phases phases 0 4 Establishment of communication is always restarted when the controller is switched on the reset button on the XCN is operated the drive parameters are changed or an error e g cable b...

Страница 129: ...Manual XCx 300 500 540 Version 09 08 129 13 PROFIBUS DP Modules 13 1 PROFIBUS DP Master XF DPM XF DPM L1 L2 L3 L4 X61 One PROFIBUS DP master field bus interface Correspond to IEC 61158 Type 3 up to 12...

Страница 130: ...connection active green flicking Bus connection error green Bus connection active L4 COM yellow Cyclic data exchange active red Bus connection error Connector X61 Pin Designation 1 nc not connected 2...

Страница 131: ...es Operating Manual XCx 300 500 540 Version 09 08 131 13 4 PROFIBUS DP Slave XF DPS XF DPS L1 L2 L3 L4 X51 One PROFIBUS DP slave field bus interface Correspond to IEC 61158 Type 3 up to 12 MBaud data...

Страница 132: ...r green flashing Ready connecting to bus however no not as yet bus connection active green flicking Bus connection error green Bus connection active L4 COM yellow Cyclic data exchange active Connector...

Страница 133: ...o MASTER_FCONF parameter 0 the master configuration data will be compared with the configuration stored in the file DPSconf0x ini 1 the master forces the slave configuration the master configuration d...

Страница 134: ...rds 4 8 Bytes Words 5 12 Bytes Words 6 16 Bytes Words 2 20 Bytes Words 8 32 Bytes Words 9 64 Bytes Words DPSconf0x ini default DP00 NumberOfModules 10 mod00 4 bytes input modType 0 modLen 3 mod01 4 by...

Страница 135: ...ntains parameters 1 to 3 D31 D24 Parameter 1 D23 D16 Parameter 2 D15 D0 Parameter 3 Par1 Parameter value 1 8 bit decimal signed Par2 Parameter value 2 8 bit decimal signed Par3 Parameter value 3 16 bi...

Страница 136: ...ool nose radius compensation 0x0214nnnn Error in interpolation preparation 0x0220nnnn Axis specific error 0x0221nnnn SERCOS diagnosis status only on ProNumeric PN MIC 0x0222nnnn SERCOS status class 1...

Страница 137: ...or number n 0x01000061 Internal error Remote control disabled 14 2 1 2 Group 0002 Code generation Errors in this error group can occur when projects programs or parts of programs are sent to the contr...

Страница 138: ...Errors in this error group can occur when projects programs or parts of programs are sent to the controller Error no Error text 0x01004013 Internal Error POU s invalid 0x01004023 Internal Error POU s...

Страница 139: ...E4 Internal Error Non initialized interrupt PLC stopped Appears on M68 systems 0x010000F4 Internal Error Wrong interrupt PLC stopped Appears on M68 systems 0x01004104 Error System Error in modul xx be...

Страница 140: ...01004065 Internal Error Setting breakpoint at function or function block n not possible Could only be possible during single stepping 0x0100C075 Error Cannot set breakpoint at this line WN n set break...

Страница 141: ...holding retain data not available 0x010000E6 Internal Error Invalid group for retain data 0x010040F6 Internal Error PDD Definition of data type u was made twice 0x01004106 Internal Error PDD Data type...

Страница 142: ...ion The current hardware configuration does not match the saved configuration Hardware reset required 0x01100002 PLC Option PSOn nicht freigegeben PLC option PSO n not enabled Option not enabled for t...

Страница 143: ...dul ID XRIO Verbindung n Modul ID m XRIO Unknown module ID XRIO connection n module ID m 0x01200003 XRIO Zu viele Module werden benutzt XRIO Verbindung n Anzahl m XRIO Too many modules used XRIO conne...

Страница 144: ...nnn Error in tool nose radius compensation 0x0214nnnn Error in interpolation preparation 0x0220nnnn Axis specific error 0x0221nnnn SERCOS diagnosis status only on ProNumeric PN MIC 0x0222nnnn SERCOS s...

Страница 145: ...CNC system data Error no n A system error has occurred while generating CNC data fields Please contact Schleicher Service 0x02000005 CNC System auf falscher SPS Hardware CNC system on incorrect PLC h...

Страница 146: ...s if the interface version of the loaded transformation does not match the interface version of the installed operating system version Please contact Schleicher Service 0x02100005 Falsche Anzahl Robot...

Страница 147: ...m using lower case letters or no ASCII symbols 0X02110004 LF oder fehlt System n Nnnn LF or missing System n Nnnn 0X02110005 Unzul ssige Zeichenkombination System n Nnnn Invalid character combination...

Страница 148: ...valid value System n Nnnn E g B R0 with R0 0 0X02110012 Unzul ssiger R Parameter System n Nnnn Invalid R parameter System n Nnnn Parameter does not exist or must not be changed R300 R310 0X02110013 Un...

Страница 149: ...0211001E Radius 0 System n Nnnn 0X0211001F Kreisendpunkt Fehler System n Nnnn Circle end position error System n Nnnn The difference between the programmed start and end radius is larger than the circ...

Страница 150: ...mmiert System n Nnnn 33 not programmed System n Nnnn 0X0211002C G76 Schnittanzahl 0 System n Nnnn G76 number of cuts 0 System n Nnnn 0X0211002D G76 G77 Steigung 0 System n Nnnn G76 G77 lead 0 System n...

Страница 151: ...Nnnn 0X0211003A Precompilieren nicht m glich System n Nnnn Precompiling not possible System n Nnnn 0X0211003B Vorschub zu gro System n Nnnn Feedrate is too high System n Nnnn 0X0211003C Verfahrstrecke...

Страница 152: ...us Fase zu gro System n Nnnn Radius chamfer too large System n Nnnn In a CNC record you have programmed a transition radius RA or a transition chamfer RB whose starting position is outside the program...

Страница 153: ...ol radius too large System n Nnnn The selected tool cannot move to the programmed position 0x02130005 Startpunkt Endpunkt System n Nnnn Start position end position System n Nnnn The selected tool cann...

Страница 154: ...Kein Spindelistwert System n Nnnn No spindle actual value System n Nnnn 0x02140007 M03 M04 M05 falsch System n Nnnn M03 M04 M05 incorrect System n Nnnn 0x02140008 61 Stichl nge 0 System n Nnnn 61 Sti...

Страница 155: ...uses feed stop with ramp Possible cause Either the maximum velocity Q 023 is too large the maximum following error Q 042 too small the KV factor Q 022 too small or the drive defective 0x02200003 Regle...

Страница 156: ...20000C Fehler beim Nachf hrbetrieb Achse n Error in follow up operation Axis n A non programmed follow up operation was executed during the CNC program 0x0220000D Sollwertfehler Achse n Set value erro...

Страница 157: ...shake Timeout SERCOS Achse n SERCOS handshake timeout Axis n 0x02210002 Antriebstelegramm Ausfall SERCOS Achse n SERCOS drive telegram failure Axis n 0x02210003 Antriebsfehler Achse n Drive error Axis...

Страница 158: ...overheated Axis n 0x02220003 K hlung Antrieb Achse n Drive cooling Axis n 0x02220004 Steuerspannung Antrieb Achse n Control voltage drive Axis n 0x02220005 Messkreisfehler Antrieb Achse n Drive measu...

Страница 159: ...chse n Drive reserved Axis n 0x0222000F Fehler Antrieb KLasse 1 Achse n Drive error class 1 Axis n 14 3 10 0x0223 Manufacturer specific SERCOS errors These error messages apply only to ProNumeric PN M...

Страница 160: ...e cause The motor data saved in the SLM module on the motor is defective 0x02300006 SLM Parameter konnte nicht gelesen werden Achse n Ort m SLM Parameter could not be read Axis n Location m Possible c...

Страница 161: ...itialisierung MC Call without initialization Possible cause The cyclical MotionControl task has detected a defective initalization see logbook for further error messages 0x02300060 MC zu wenig Speiche...

Страница 162: ...ni File_ID m Warning MC Axis assignment changed in file drive_ ini File_ID m Note warning The assignment of one or more axes has been changed in the XCN 0x0230006C MC Datei drive_ old kann nicht gener...

Страница 163: ...r 0x02300FA1 SERCOS Fataler Fehler SERCOS Fatal error 0x02300FA2 SERCOS Fehler bei der Phasenumschaltung Achse n IDN x SERCOS Error during phase switching Axis n IDN x The SERCOS communication phase c...

Страница 164: ...e on the PN MIC card The parameter that defines the Location or File_ID is defined as follows Parameter value Error location Comment 100 CALLING_PARAMETERS 200 ALLOCATE_MEMORY 300 READ_FILE 301 SLM_IN...

Страница 165: ...at error Card n Only on ProNumeric PN MIC PN MIC card possibly defective Switch computer off and on again 0x03000003 CAN Synchronisationsfehler Treiberzugriff gesperrt Karte n CAN Synchronization erro...

Страница 166: ...CAN SPS Betriebsystem Fehler Karte n CAN PLC operating system error Card n Check I O configuration in PLC programming system Reset controller if necessary 0x030100A0 CAN Konfiguration konnte nicht gel...

Страница 167: ...nction block A user defined error text can be assigned to each of these error numbers including display parameters which can be transferred to the function block Error message examples Error no Error...

Страница 168: ...Anzahl der NC Programme ist berschritten NC memory error Max number of NC programs exceeded Increase number of NC programs or delete programs 4 NC Speicherfehler Der NC Programmspeicher ist voll NC me...

Страница 169: ...An error has occurred in line n The parameter does not exist 16 Falsche Systemnummer Q oder R Parameter Datei Zeile n Incorrect system number Q or R parameter file Line n An error has occurred in line...

Страница 170: ...ting interface X3 ETH Ethernet Programming diagnosis operating interface X6 CAN CANopen bus port XRIO Port for the special Schleicher XRIO bus to connect the RIO EC X2 bus coupler Direct Inputs Output...

Страница 171: ...0 Relative humidity 10 95 class F acc DIN 40040 no condensation Air pressure in operation 860 1060 hPa Electrical safety Protection type IP 20 acc EN 60529 Clearance creepage distance acc DIN EN 61131...

Страница 172: ...Dimensions 172 Operating Manual XCx 300 500 540 Version 09 08 16 Dimensions...

Страница 173: ...tered trademark of CAN in Automation e V ProCANopen is a registered trademark of Vector Informatik GmbH CANalyzer is a registered trademark of Vector Informatik GmbH Pentium is a registered trademark...

Страница 174: ...of the System SCHLEICHER automation systems are state of the art products and manufactured to recognised safety requirements All the same their use can cause danger to the health and safety of operat...

Страница 175: ...must be taken for I O interfacing Control elements and their assigned control panel elements must be installed in a place where they are sufficiently protected against inadvertent use 18 4 Maintenance...

Страница 176: ...a battery return system or through public waste disposal facilities Batteries should be fully discharged before disposal A battery is discharged when the function of the device is impaired due to ins...

Страница 177: ...52 lifeguarding 74 network variables 75 nodeguarding 73 parameterizing and diagnosis functions 80 PDO 73 PLC addresses 75 SDO 73 SDO function blocks 79 specifications 47 status variable 75 CAN specifi...

Страница 178: ...XRIO 46 GET_DATE 103 GET_MTS 104 GET_TIME 103 MC_ANALOG 103 MC_ANALOG_1_AXIS 103 MC_CAN 103 PORT_CLOSE 105 PORT_OPEN 105 PORT_READ 105 PORT_STATE 105 PORT_WRITE 105 PPF_COP_COMM 104 PUT_ERROR 104 PUT_...

Страница 179: ...hnical data 128 Program assigning to task 95 Programming device interface 24 Programming the PLC 97 R Real time clock read set function blocks 103 Record insertion error 148 RIO EC X2 for XRIO 60 RS23...

Страница 180: ...ork variables 76 declaring network variables 51 for visualization with web server 59 W Watchdog 94 Watchdog task execution 94 Web server application example 59 declaring variables for visualization 59...

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