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TPM

EasyPAC User Manual

154

6.6.5.8 GA_MoveLinearRelative

Function

Make a grouped axes relative linear motion with T-curve or S-curve.

Input Parameters

Name

Type

Description

AxesGroup

AXIS_GROUP_REF

Reference to the group of axes.

Execute

BOOL

Please refer to the Execution Logic at section 6.6.5.

DisArray

DISTARRAY

(-134217728 ~ +134217728)

Relative position.

StartVelocity

DWORD

Start velocity.

MaxVelocity

DWORD

End velocity.

TAcc

REAL

Acceleration time in the unit of second.

TDec

REAL

Deceleration time in the unit of second.

Curve

BYTE

Velocity profile. 0 for T-Curve, 1 for S-Curve.

Output Parameters

Name

Type

Description

AxesGroup

AXIS_GROUP_REF

Reference to the group of axes.

Done

BOOL

‘Standstill’ or ‘Disabled’ state is reached.

Busy

BOOL

The FB is not finished and new output values are to be

expected.

Active

BOOL

Indicates that the FB has control of the axis.

CommandAborted

BOOL

‘Command’ is aborted by another command.

Error

BOOL

Signal that an error has occurred within the FB.

ErrorID

INT

Please refer to the Status Logic at section 6.6.8.

Содержание EasyPAC

Страница 1: ...TPM EasyPAC User Manual 1 EasyPAC EPC 1000 User Manual Version V4 0 2011N24 To properly use the product read this manual thoroughly is necessary Part NO 81 00EPC10 040 ...

Страница 2: ...l shield at section 6 1 4 4 Update figure 4 2 and 4 3 in section 4 1 2 2 2011 8 2 3 1 3 2 3 3 1 Append system backup and recovery chapter 2 Update pictures and description of MyConfig and MyLink 3 Append new MULTIPROG FBs and sort them in alphabetical 4 Update the NPN logical circuit of GPIO output 5 Append axis parameter list 6 Append function block ErrorID list 2011 8 19 3 4 3 5 1 Update axis pa...

Страница 3: ...uld be used only for identification or explanation and to the owners benefit should not be infringed without any intention The product s name and version number are both printed on the product itself Released manual visions for each product design are represented by the digit before and after the period of the manual vision number Manual updates are represented by the third digit in the manual vis...

Страница 4: ...uld interrupt the grounding circuit Make sure that your power supply is set to the voltage available in your area If the power supply is broken contact a qualified service technician or your retailer Operational safely Please carefully read all the manuals that came with the package before installing the new device Before use ensure all cables are correctly connected and the power cables are not d...

Страница 5: ...WARE INSTALLATION 17 2 1 DIMENSION 17 2 2 CONNECTORS 17 2 2 1 COM Port COM CN1 18 2 2 2 GPIO CN2 19 2 2 3 Ring_0 CN3 21 2 2 4 Ring_1 CN4 21 2 2 5 24V DC Input 22 2 2 6 USB Connector 22 2 2 7 LAN Connector 22 2 3 ROTARY SWITCH 23 2 3 1 System Mode Setting SW1 23 2 3 2 Motionnet Baud Rate SW2 24 3 SYSTEM BACKUP AND RECOVERY 25 3 1 SYSTEM BACKUP 25 3 2 SYSTEM RECOVERY 25 4 MOTIONNET INTRODUCTION 26 4...

Страница 6: ...INTRODUCTIONS 95 6 1 MPEXPRESS5 35 INSTALLATION 96 6 1 1 Install EasyPAC Software and Tools 99 6 1 2 Install MULTIPROG 5 35 252 Express 99 6 1 3 Install MULTIPROG Patch Files 103 6 1 4 Uninstall 104 6 2 THE FIRST MULTIPROG PROJECT 105 6 2 1 Create a New Project 105 6 2 2 DI Test 106 6 2 3 Compile 107 6 2 4 Download 108 6 2 5 Debug 108 6 3 INTERFACE DESCRIPTION 109 6 4 CREATE AND EDIT A PROJECT 110...

Страница 7: ...ive 136 6 6 5 Motion Function Block List 143 6 6 6 EasyPAC Function Block List 190 6 6 7 Axis Parameter List 194 6 6 8 Function Block ErrorID List 195 6 7 SAMPLE PROGRAMS 196 6 7 1 AI O 196 6 7 2 Counter 201 6 7 3 Single Axis 205 6 7 4 Grouped Axes 210 6 7 5 HMI_DIO 215 ...

Страница 8: ...OS kernel for running SoftPLC and two utilities for system diagnosis MyConfig and MyLink MyConfig is used to set the system configuration and MyLink is used to diagnose and test the functions of Motionnet slave modules 1 1 Basic The operating system for EasyPAC is Microsoft WinCE5 0 RTOS Real Time Operating System Based on the RTOS an application ProConOS which is a PLC operating system from KW is...

Страница 9: ...nsion and Integration EasyPAC provides two Motionnet Rings Ring_0 For digital I O analog I O and pulse counters Supports up to maximum 64 slave modules Transfer speed 2 5 5 10 20 Mbps Ring_1 For motion control Supports up to maximum 32 axes Transfer speed 2 5 5 10 20 Mbps Figure 1 2 EasyPAC and supported slave modules ...

Страница 10: ...odbus TCP or Modbus RTU System utility MyConfig Motionnet utility MyLink Programming software tool MULTIPROG5 35 Express Power input spec Output voltage 24V DC Power Consumption 7W 1 3 Hardware The following table shows the hardware specifications of EasyPAC TPM EasyPAC Specifications 1 Vortex86DX 800 MHz 2 DDR2 RAM 256 MBytes 3 BIOS Flash 2 MBytes 4 D SUB 15 Male Connector x 2 RS 422 x 1 RS 232 x...

Страница 11: ... and Ring_1 is for motion control The detailed data is in the following table Item Specifications port of Motionnet Remark Ring_0 Ring_1 106 D240 NX 32 ch digital input with NPN Yes No 106 D222 NN 16 ch digital input and 16 ch digital output with NPN Yes No 106 D204 XN 32 ch digital output with NPN Yes No 106 D440 NX 32 ch digital input with NPN Yes No 106 D422 NN 16 ch digital input and 16 ch dig...

Страница 12: ...ateway Yes No coming soon 108 P120 4 ch 32 bites up down counter Yes No 102 M1x1 1 axis Motion connector series No Yes BCD 4020FU 1 axis 2 phase stepper driver No Yes BCD 4020FB 1 axis Micro stepper driver No Yes Ezi Servo close loop stepper driver No Yes coming soon Kingservo King servo motor driver No Yes coming soon Table 1 1 Motionnet compatible devices ...

Страница 13: ...TPM EasyPAC User Manual 13 1 6 System Architecture Figure 1 3 EasyPAC system architecture 1 7 24V DC Power Module Features Universal AC input Full range Protections Short circuit Overload Over Voltage ...

Страница 14: ...oling by free air convection Can be installed on DIN rail TS 35 7 5 or 15 NEC class 2 LSP compliant LED indicator for power on DC OK relay contact No load power consumption 0 75W 100 full load burn in test Safety standards CE UL RU ...

Страница 15: ... is listed as the following table Table 1 2 hardware specification 1 8 Package List Package list is as below EasyPAC EPC 1100 Specific power module System CF card with built in software license WinCE5 0 ProConOS Product CD Including manuals and installation tools ...

Страница 16: ...TPM EasyPAC User Manual 16 Note that if you have any question for package please contact our local distributor or register on our web site We will offer the new library template and demo programs ...

Страница 17: ...17 2 Hardware Installation 2 1 Dimension The outline dimension of EasyPAC is shown below Figure 2 1 outline and dimension 2 2 Connectors All connectors and switches of EasyPAC are shown below Figure 2 2 Connections of EasyPAC ...

Страница 18: ...Extension slot of CF USB Standard USB 2 0connector LAN RJ 45 LAN 10 100 SW1 System operating mode setting SW2 Baud rate of Motionnet setting Table 2 1 EasyPAC connectors and switches 2 2 1 COM Port COM CN1 EasyPAC is equipped with four COM ports two RS 232 and two RS 485 They are deployed in COM COM1 RS 422 COM3 RS 232 and CN1 COM2 RS 422 COM4 RS 232 separately that is the D SUB 15 pin connector T...

Страница 19: ...ual 19 Figure 2 4 CN1 pin assignment 2 2 2 GPIO CN2 The pin definition of this 8DI 8DO connector is shown below Figure 2 5 pin assignment of CN2 Digital GPIO input signal circuit in SINK mode NPN is illustrated as follows ...

Страница 20: ...it of input NPN Digital GPIO input signal circuit in SOURCE mode PNP is illustrated as follows Figure 2 7 signal circuit of input PNP Digital GPIO output signal circuit in SINK mode NPN is illustrated as follows Figure 2 8 signal circuit of output NPN ...

Страница 21: ...onnet protocol 4 NC Reserved 5 NC Reserved 6 RS485 Motionnet protocol 7 NC Reserved 8 NC Reserved Table 2 2 pin assignment of CN3 2 2 4 Ring_1 CN4 The Ring_1 of Motionnet on CN4 is used for motion control slave modules The pin definition of this connector is in the following Pin Pin Mark Pin Description 1 NC Reserved 2 NC Reserved 3 RS485 Motionnet protocol 4 NC Reserved 5 NC Reserved 6 RS485 Moti...

Страница 22: ... There are two sets of USB in the EasyPAC The pin definition of this connector is in the following USB signal pin pin USB signal Vcc 1 5 Vcc USB_D0 3 6 USB_D1 USB_D0 5 7 USB_D1 Ground 7 8 Ground Table 2 5 USB connector pin assignment 2 2 7 LAN Connector EasyPAC provides one LAN port with 10 100Mpbs The default IP address is 192 168 1 100 and user can modify it with MyConfig The pin definition of t...

Страница 23: ...is switch is in the following SW1 Operating Mode Details 0 MyConfig Server Mode Set default IP address 192 168 1 100 1 MyConfig Server Mode 2 MyLink Server Mode 3 Backup Backup whole system to CF card 4 Restore System restore from CF card 5 Reserve Reserve 6 Reserve Reserve 7 KW Mode Modbus Slave over RTU Cold 8 KW Mode Modbus Slave over RTU Stop 9 KW Mode Modbus Slave over RTU Warm A KW Mode Modb...

Страница 24: ...net Baud Rate SW2 The SW2 is used to set the baud rate of Motionnet Rings User can choose the baud rate by switching SW2 The definition of this switch is as followed The default setting is Ring_0 10Mpbs Ring_1 10Mbps Table 2 8 SW2 assignment ...

Страница 25: ...p The backed up files would be stored at an auto generated folder EPCBACKUP A short beep means the backup procedure finished successfully A long beep means failures occurred and with an E on 7 seg display 3 2 System Recovery Recover the PC files Manually retrieve files in C TPM EasyPAC Recover the EasyPAC system It needs 4 steps to recover the EasyPAC system from a storage device 1 Insert the CF c...

Страница 26: ...otor control data Communication times can be calculated using formulas allowing users to see that Motionnet guarantees the real time oriented support needed by FA industries 4 2 Motionnet Functions Figure 4 1 Motionnet system architecture Provides a communication protocol based on the RS485 standard Can communicate variable length of data from 1 to 128 words when a 16 bit CPU is used An LSI center...

Страница 27: ...Data communication time 169 3 µsec to send or receive 256 bytes Serial communication connection cable Multi drop connections using LAN cables or dedicated cables Total cable length of one line 100 m 20 Mbps 32 local boards 10 Mbps 64 local boards Cable length between local boards 0 6 m or longer 4 3 Advantage of Motionnet It is possible to connect from center to terminal controller parts by one ca...

Страница 28: ...ocal devices connected are I O devices 2048 input output points can be used If a different number of local devices are connected or when the communication cycle is interrupted by data communications refer to the calculation formulas in the user s manual to calculate the time latency Figure 4 3 high speed and time deterministic support Master Slave Module x 64 Slave 20Mbps 64 32 0 56ms 1 04ms NODE ...

Страница 29: ...TPM EasyPAC User Manual 29 4 4 Motionnet Product Family Figure 4 4 EasyPAC and Motionnet product family ...

Страница 30: ...e make sure the SW1 is switched to position 1 PC is supposed to have the same network section as EasyPAC IP address 192 168 1 100 when the network cable is hooked up If these two settings are correct we can power up the EasyPAC It will beep an alert sound if the system is successfully brought up and MyConfigSrv exe will be started automatically If there is no beep for a while means Ethernet failur...

Страница 31: ...e tabs PAC info Update AES code Modbus parameters and About MyConfig Figure 5 2 system information of EasyPAC 5 1 2 2 PAC Info Users can see the EasyPAC basic hardware information at the top half of the page At the bottom half users could set up IP address subnet mask gateway admin password and guest password ...

Страница 32: ... is hit and will take effect after restarting the system The admin and guest password would change immediately when new a password is input and Save button is pressed 5 1 2 3 Update It provides online software update Please make sure the PC is connected to the internet before online update If the Check for Updates button is pressed it will show up the software versions on EasyPAC and user s PC at ...

Страница 33: ...ware page In this Update tab it would show up the software versions that are out of date There is also a hint message informing software needs to be updated Before doing the updating please make sure that the MULTIPROG application must be closed There would be errors on overwriting files if the MULTIPROG is not closed which leads to updating failure Figure 5 7 reminder of closing MULTIPROG After O...

Страница 34: ...will start updating and pop up a progress bar like below Figure 5 10 progress bar of software updating If the update includes PC only the following dialog will pop up Figure 5 11 update complete dialog If the software update completes including EasyPAC it will pop up a dialog saying the update completed EasyPAC needs to reboot to apply new software Figure 5 12 update complete dialog ...

Страница 35: ...n numeric digits an error message will show up as figure below Figure 5 14 insufficient digits 5 1 2 5 Modbus Parameter The Modbus Parameters page let users edit Modbus related parameters for KW applications of EasyPAC Modbus requires settings of slave ID TCP and RTU parameters MyConfig provides sets of default settings in advance Users can change the settings and press the Save Settings button to...

Страница 36: ...o the default IP address 192 168 0 100 Now we could connect to it with MyConfig 3 The PAC info tab has previous set IP address shown in Saved IPAddress 5 2 MyLink MyLink is utility software used to test diagnose and verify the functions of the remote Motionnet slave modules The following slave modules are available DIO AIO Counter and Axis modules After successful installation MyLink exe with icon...

Страница 37: ...unctions There are 4 main functions in the tool bar File This is used for file access especially for KW Also this is used to set and save of axes module parameters or copy the parameters for other axes Figure 5 18 functions under file option Tools Provides functions for setting system parameters and initialize the system There are 2 sub functions 1 Edit Path this option is only available when two ...

Страница 38: ...pt USB L131 it will show up two Motionnet masters at the top left corner Ring_0 and Ring_1 If the master is EasyPAC MyLink could save the profile according to data type designated for KW Moreover the slave modules besides axes control are supposed to connect to Ring_0 and axes control is supposed to connected to Ring_1 Check the slave device at the check box will pop up the corresponding control w...

Страница 39: ...ustration and suggestion Figure 5 24 property description Ring Status Ring status is shown in the bottom Green means the ring is initialized successfully without error and red means the ring is in error state The number within the parenthesis represents the number of communication failure The ring status will be in red if there is no slave modules connected to the ring or the communication retry t...

Страница 40: ... config structure in EasyPAC once the Save button is pressed It would load the system structure from EasyPAC when the Load button is pressed Figure 5 27 load and save of the system configuration 5 2 3 DIO Module Operation Figure 5 28 information of connected devices Module Status As shown in the above menu a DIO module is identified in Ring 0 This example is a 16 input 16 output module Property ...

Страница 41: ...to ground Figure 5 29 information of connected devices Module Status AO module with IP19 and AI module with IP48 are identified Property The property of AO module is similar to DIO module The input range property can be set here There are 8 channels with 4 ranges 1 25 2 50 5 0 10 0 Operation Move the track bar to change the output value of AO module and the value will also be shown in the AI modul...

Страница 42: ...the input voltage range It is separated into 8 grades 80mV 160mV 320mV 640mV 1 28V 2 56V 5 12V 10 24 5 12V The input voltage larger than 5 12V is not recommended ValueType set the view of input output as transformed voltage or the raw data The rules to transform to the voltage value by calling APIs are as following 1 Take reference only on the positive voltage value Take 10 24V for example Range 1...

Страница 43: ... the slide bar Select the check box to choose which to output Retain Parameters As mentioned above 108 A122 is a module with an EEPROM for data storage and MyLink is a parameter setting utility It is very important to save the setting in the EEPROM so that users do not have to set the parameters every time when system is brought up Moreover users who do not thoroughly understand the settings could...

Страница 44: ...hecked Press the Save button will finish the saving Note that the each AI IP address is supposed to be within 48 to 63 It will not be in the list if the IP address is out of range 2 EEPROM Users need to take few steps to save the configuration in the EEPROM as following 1 Check the EEPROM option and all the modules with EEPROM will show up in the list 2 Select modules need to store to EEPROM by ch...

Страница 45: ...icate are as following Select File Recovery Config From from file option Figure 5 36 duplicate configuration option If the Recovery Config From option is hit a new dialog will be popped up as figure below Figure 5 37 recover profile dialog Here is the duplicating sequence i Select Other Axis from the radio button as the recovery source ii Select the copy source from the module list iii Select the ...

Страница 46: ...ected to channel 0 and channel 1 of a counter module Figure 5 39 MyLink control for counter module Module Status Displays counter modules found with corresponding IP address The module name is a little bit different with AI O and DI O There are five modes of counter configurable The frequency mode is adapted hereafter Property The 108 P120 extension properties include Mode Time AlarmOut Average Ed...

Страница 47: ...00s the sampling period 1s INx gets 1000 pulses within 1 second the measured frequency is 1KHz Average unused Edge Trigger Type Rise Fall Upper Limit Hz 0 4 294 967 295 Lower Limit Hz 0 4 294 967 295 AlarmOut Measured Value Lower Limit or Measured value Upper Limit Period Period measurement mode this is used to measure the ON OFF time of the incoming pulses the max measured time is 800ms Time 2ms ...

Страница 48: ...e Rise Fall Upper Limit 0 4 294 967 295 Lower Limit 0 4 294 967 295 AlarmOut When value Lower Limit or value Upper Limit 3 DO Output AlarmOut AlarmOut will be activated according to the set value as foregoing PowerOn Value It is composed by 4 bits 0b0000 The power on state of DO can be set as ON or OFF If the value is 1 the output is ON when power on If the value is 0 the output is OFF when power ...

Страница 49: ...0 screenshot of single axis module Module status M171 module is identified and displayed in the above and is equipped with EEPROM The functions of motion slave modules without EEPROM will be limited 1 No grouped axes motion and 2 SA_LoadConfigFile is needed to download parameter Property There are 3 categories of setting Homing mode Driver I O interface Machine I O interface Please refer to GA_Get...

Страница 50: ... axes with one of Group1 7 specified and press the arrow button or to make the selected axes grouped up as a group The grouped axes will show up in the device monitor as following Figure 5 43 grouped axes In this example M121 is a grouped axis under AxisGroup1 instead an independent axis Save And Recover Configurations The reading and writing of configuration profile are almost the same as AI O in...

Страница 51: ...ved in the tree diagram The File Path button let users change storage path at will Press Save to save the information including information interface I O pulse I O and Operation in the PC 2 PAC If the PAC check box is checked all the modules to be saved would be in the list without selection needed If an AI module is not in this list means the IP address is not within the illegal range 48 63 If th...

Страница 52: ...e EEPROM Recovery The recovery dialog will show up if enters File Recovery Config From Figure 5 46 recovery dialog with file source 1 File The recovery source could be stored as a file Users could recover from the file to targets in the target list 2 Self EEPROM Targets could be multi selected to be recovered from self EEPROM 3 Other Axis It is to duplicate the axis configuration profile from one ...

Страница 53: ...ld be done before settings of the segments Edit the parameters and press the Edith Path Parameters button to update the file content at the right side The parameter will be described later Segments Two axes say X and Y are supposed to be selected to form a segment The X and Y need to be grouped already The corresponding IP of Y axis will be removed if the X axis has selected the one in advance Fig...

Страница 54: ... the necessary parameters then press Add Segment to add the settings as a new segment in the path file at right hand side Users could press to start a new segment or press to modify the previous added segment If all the segments are finished the Save button in the Save Path to PAC area will be enabled to save the path to EasyPAC as shown below Figure 5 50 motion profile formed by segments Here is ...

Страница 55: ...ation Path Count 8 StrVel 100 MaxVel 6000 Tacc 0 1 Tdec 0 1 Curve T Segments Seg1 Type Line Seg1 Dist8 0 Seg1 Dist9 1000 Seg2 Type Arc Seg2 Ax 8 Seg2 Ay 9 Seg2 Cx 1000 Seg2 Cy 0 Seg2 Ex 1000 Seg2 Ey 1000 Seg2 Dir Cw Seg3 Type Line Seg3 Dist8 2000 Seg3 Dist9 0 Seg4 Type Arc ...

Страница 56: ...6 Cy 0 Seg6 Ex 1000 Seg6 Ey 1000 Seg6 Dir Cw Seg7 Type Line Seg7 Dist8 2000 Seg7 Dist9 0 Seg8 Type Arc Seg8 Ax 8 Seg8 Ay 9 Seg8 Cx 0 Seg8 Cy 1000 Seg8 Ex 1000 Seg8 Ey 1000 Seg8 Dir Cw The path file stores each segment motion of each axis as a kwpts file Rules for motion path file editing are listed below Path Count 8 No of path segments max 100 StrVel 100 Start velocity unit is pps Value is 0 6666...

Страница 57: ...to Y Axis Range 134217728 134217727 Seg2 Ex 1000 End point in X Axis is 1000 Range 134217728 134217727 Seg2 Ey 1000 End point in Y Axis is 1000 Range 134217728 134217727 Seg2 Dir Cw Clockwise circle Seg3 Type Line Path type is line Seg3 Dist8 2000 Axis with IP8 is grouped 2000 pulses Range Dist1 Dist32 Seg3 Dist9 0 Axis with IP9 is grouped 0 pulses Range Dist1 Dist32 Seg4 Type Arc Path type is cir...

Страница 58: ...is connected to the output signal the RALM must be pressed and the corresponding signal turns red If the Repeat option is checked the motion will go back and forth infinitely with the pre defined position The DIR signal will toggle as well If there are errors terminate the motion the Error light would be on and press the exclamation mark will pop the error message as shown below Figure 5 53 motion...

Страница 59: ... done as mentioned Users could check the group folder to bring up the axis group option Figure 5 55 check the group folder to update axis parameters The window of grouped axes properties is as the following figure Figure 5 56 axis group properties Before running the axis please make sure the properties are set correctly ...

Страница 60: ... The group operation depends on the VelProfile Line Arc More than two axes could be joined together as a group in line interpolation mode Figure 5 58 more than two axes are possible to run together in line interpolation mode Users could only choose exactly two axes to do arc interpolating motions More than two or less than two axes will cause an error message in the message window Figure 5 59 erro...

Страница 61: ... or laptop with Intel Centrino up CPU Memory 1GB RAM OS Windows 2000 XP Win7 LAN card RJ 45 10 100 1000 Mbps Software Installation 1 executable file MyDataCheck exe ProConOS MULTIPROG I O Configuration There are 3 types of memory INPUT I OUTPUT Q VARCONF M Figure 5 60 three tabs of each type of memory Ring_0 of EasyPAC supports up to 48 DIO modules and 16 IP48 IP63 AIO or PIO modules INPUT OUTPUT ...

Страница 62: ...TPM EasyPAC User Manual 62 1 48 IP x 4 Port x 1 Byte 16 IP x 8 Channel x 2 Byte 1 192 256 449 Byte ...

Страница 63: ...ata type with memory occupation table Real variable I Q IX Bit Input IX 1 2 means bit 2 of byte 1 IQ Bit Output QX 2 3 means bit 3 of bye 2 IB Byte input IB 1 means byte 1 QB Byte output QB 2 means byte 2 Local 8DI 8DO is mapped to port 0 and can be accessed by IB 0 IX 0 0 IX 0 7 and QB 0 QX 0 0 QX 0 7 Each Motionnet DIO slave module has 4 ports 0 3 and each port is 8 bit IW Word input This is use...

Страница 64: ...etain Memory is ranged from MB 3 10000000 to MB 3 10013311 i e 13312 Bytes Type MULTIPROG Memory Address Begin Access Tag End Access Tag Local DI IB 0 IX 0 0 IB 0 IX 0 7 Motionnet DI IB 1 IX 1 0 IB 192 IX 192 7 Motionnet AI IB 193 IW 193 IB 448 IW 447 Local DO QB 0 QX 0 0 QB 0 QX 0 7 Motionnet DO QB 1 QX 1 0 QB 192 QX 192 7 Motionnet AO QB 193 QW 193 QB 448 QW 447 MB Coil MB 3 0 MB 3 1023 MB Holdi...

Страница 65: ...gister Input Data Word Real I O ranged from 0 to 127 WORD Virtual ranged from 128 to 639 WORD Please refer to the following summary table Type Modbus Memory Address Begin End Local DI 0 BOOL 7 BOOL Motionnet DI 8 BOOL 1543 BOOL Motionnet AI 0 WORD 127 WORD Local DO 0 BOOL 7 BOOL Motionnet DO 8 BOOL 1543 BOOL Motionnet AO 0 WORD 127 WORD MB Coil 1544 BOOL 9735 BOOL MB Holding Register 128 WORD 639 ...

Страница 66: ...emory Address mapping Ring_0 is for Motionnet DIO AIO PIO modules address mapping Ring_1 is for Motionnet Axis Module address mapping 5 3 1 1 Ring_0 Memory Address Mapping Figure 5 62 Ring_0 memory address mapping Module Select the module model for Ring_0 IP slave module IP IP0 IP47 is for DIO and IP48 IP63 is for AIO or PIO Mode Select the Modbus type ...

Страница 67: ...ng_1 is listed here IP IP1 IP32 is for single axis module IP1 AXIS_01 and IP32 AXIS_32 Mode Select the Modbus type 5 3 1 3 Virtual Memory Address Mapping Figure 5 64 virtual memory address mapping Mode Select the Modbus type Modbus Data Type Coil Output Tag Discrete Input Input Tag Holding Register Output Data or Input Register Input Data ...

Страница 68: ... bit word Read Write Table 5 4 data type of Modbus Ring_0 DI O IP DI MODBUS DO MODBUS I Discrete Input Q Coil Begin End Begin End DEC HEX DEC HEX DEC HEX DEC HEX L IB 0 0 0 7 7 QB 0 0 0 7 7 0 IB 1 8 8 15 F QB 1 8 8 15 F IB 2 16 10 23 17 QB 2 16 10 23 17 IB 3 24 18 31 1F QB 3 24 18 31 1F IB 4 32 20 39 27 QB 4 32 20 39 27 Table 5 5 table of Ring_0 DI O IP L represents Local DI IB 0 and Local DO QB 0...

Страница 69: ... AI is 10V IW 193 0x0000 10V 0xFFFF 10V The data type of PIO counter module is DWORD Hex 0x00000000 0xFFFFFFFF In the case of 108 P120 different modes can be set as described in the following 1 Counter Count the no of pulses 2 Frequency Measure the frequency of the input pulse Time is 0 1s 100s For example When Time is set to 1s and gets 1000 pulse from IN0 ID 193 0x000003E8 The freq is 1 KHz 3 Pe...

Страница 70: ...position DWORD Current Position 0x00000000 0xFFFFFFFF Pulse AXIS_01 3 current velocity DWORD Current velocity 0x00000000 0xFFFFFFFF PPS AXIS_01 4 io_status DWORD I O status of the axis 1 is ON 0 is OFF Bit16 Bit31 is reserved Bit0 RDY RDY pin input Bit1 ALM Alarm Signal Bit2 EL Positive Limit Switch Bit3 EL Negative Limit Switch Bit4 ORG Origin Switch Bit5 DIR DIR output Bit6 EMG Emergency signal ...

Страница 71: ...motion 0x0007 In FL motion 0x0008 Acc 0x0009 In FH motion 0x000A Dec 0x000B Wait INP Virtual Data Digital output M M MODBUS Coil Begin End Begin End DEC HEX DEC HEX B 3 X 3 0 0 0 0 7 1544 608 1551 60F Table 5 8 digital output of virtual data Digital Output is described in the following MB 3 0 Coil 1544 Coil 1551 MX 3 0 0 Coil 1544 MX 3 0 1 Coil 1545 MX 3 0 2 Coil 1546 MX 3 0 3 Coil 1547 MX 3 0 4 C...

Страница 72: ...Discrete Input 1549 MX 3 2048 6 Discrete Input 1550 MX 3 2048 7 Discrete Input 1551 Register M MODBUS M MODBUS Holding Registers Input Registers DEC HEX DEC HEX W 3 W 3 1024 128 80 3072 128 80 Table 5 10 register of virtual data Virtual data is described in the following MW 3 1024 Holding Registers 128 MW 3 3072 Input Registers 128 5 3 3 Making Memory Address Table from System File By using the fu...

Страница 73: ...erated memory address table by mcg file Relative functions are listed Select the system file generated by MyLink Save Save the result in text format which is readable and editable by Excel Mode Select the Modbus data format 5 3 4 Mapping Tables ...

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Страница 95: ... Text ST Graphical Language Function Block Diagram FBD Ladder Diagram LD Sequential Function Chart SFC MP Express 5 35 supports the following data types X is bit operation B is byte operation W is word operation D is double word operation I is Input symbol Q is Output symbol M is Virtual symbol Example IX1 7 The 7th bit in 1st Byte at input data must be BOOL type IB100 The 100th Byte at input data...

Страница 96: ...nstallation Install EasyPAC software and tools Install MULTIPROG 5 35 252 Express Install MULTIPROG Patch Files Software Version Run the successfully installed MULTIPROG 5 35 Express as shown below Figure 6 1 installed MULTIPROG Express Make sure the software version by the following figure illustrates Figure 6 2 figure out the software version info If the software version is not 5 35 Build 252 pl...

Страница 97: ...Insert the CD into your PC and you will be asked to permit auto installation Please enter YES to allow auto installation as shown Figure 6 4 install product CD If the auto installation does not work please try it manually Please go to Program Manager and run the Auto exe in the CD to start installation manually Users could click on Install Products as shown below to setup EasyPAC ...

Страница 98: ...AC User Manual 98 Figure 6 5 procedure to setup EasyPAC Press option Install EasyPAC Software and Tools to start setup EasyPAC related software and utilities Figure 6 6 install the correct utilities for EasyPAC ...

Страница 99: ...re 6 7 click Finish button to complete the installation 6 1 2 Install MULTIPROG 5 35 252 Express Please press the Install MULTIPROG 5 35 252 Express button to install the software Figure 6 8 install MULTIPROG The installation procedure leads to install the relative libraries of MULTIPROG 5 35 252 Express and software development kit for KW applications The default location for the installation is ...

Страница 100: ...libraries MICROSOFT Visual C 2008 runtime libraries MULTIPROG 5 35 252 Express Build 252 MULTIPROG ProConOS AddOn The first step of the installation is a prompt of installation of MICROSOFT Visual C 2005 2008 runtime libraries Please select Install to start the installation Figure 6 9 installation of MICROSOFT Visual C 2005 2008 runtime libraries The setup wizard will lead users to complete the re...

Страница 101: ... 11 accept the license agreement Please leave the installation path as the default one and press Next to continue Figure 6 12 leave the default path unchanged Please press Finish to finish the installation Figure 6 13 installation finish ...

Страница 102: ...anual 102 Then the wizard would lead to install MULTIPROG ProConOS AddOn automatically Figure 6 14 installation of MULTIPROG ProConOS AddOn After finishing this step all the KW development environment setup is completed ...

Страница 103: ...t Install MULTIPROG Patch Files at the main menu of the installation wizard Figure 6 15 install MULTIPROG patch file When the completion screen is shown means the patch file is successfully installed in the system Please take out the CD and keep it properly Figure 6 16 completion of installation of the patch file ...

Страница 104: ...alled could be easily removed by selecting Uninstall all for Win32 Uninstall all for Win64 button The uninstall shield will lead you to remove EasyPAC related software as following figures Figure 6 17 uninstall shield illustration Figure 6 18 finishing uninstallation ...

Страница 105: ...TPM EasyPAC User Manual 105 6 2 The First MULTIPROG Project 6 2 1 Create a New Project The following figure shows how to create a project from a TPM template Figure 6 19 create a new project ...

Страница 106: ...nual 106 6 2 2 DI Test Set V000 V003 as shown below V000 I O address IB 1 IP0 DI port1 input V001 I O address Blank V002 I O address IB 2 IP0 DI port2 input V003 I O address Blank Figure 6 20 edit a variable in MULTIPROG ...

Страница 107: ...TPM EasyPAC User Manual 107 6 2 3 Compile Click on the Make button to compile the project Figure 6 21 making a project ...

Страница 108: ...6 2 4 Download Please left click on Project Control to download the compiled file to EasyPAC as shown below Figure 6 22 download sequence 6 2 5 Debug Click the Debug on to activate the debug mode Figure 6 23 enable the debug mode ...

Страница 109: ...n the above from left to right are individually 1 Project Tree Project Tree Window can display the project in a tree structure 2 Edit Wizard Edit Wizard provides the edition of instruction and FB 3 Message Message Windows displays the information about PLC Figure 6 25 approach to check FB FBs can be selected after the Edit Wizard is activated ...

Страница 110: ...w project from File New Project as shown below Figure 6 26 create a new project Please select TPM Template as the basic framework Figure 6 27 TPM Template in creation of a new project Press OK then the following window will be popped up as below Figure 6 28 main window of MULTIPROG ...

Страница 111: ...plained in the next section 1 LD Ladder diagram 2 SFC Sequential Function Charts 3 FBD Function Block Diagram 4 ST Structured Text 5 IL Instruction List 6 4 1 Edit with LD Open a project with LD programming language as shown below Figure 6 29 sequence to edit program Right click on the Logical POUs and select Insert Program and the following window will pop up Enter the file name in the Name text ...

Страница 112: ...egal name Figure 6 31 input name and select LD language Click OK and then users could start editing the program Figure 6 32 edit program window Click on the Code LD_sample tab so the LD editor will show up The function icons listed on the left including Network Contact right Parallel Coil right etc Left click on the space area and click on the Coil right button after the symbol showing up then a C...

Страница 113: ...gure 6 33 make a Contact right for instance Mouse click on the gray area and bring up the functions by right clicking on it Figure 6 34 functions of the contact After selecting the Object Properties the following window will show up ...

Страница 114: ...sage field Note that VAR indicates that it will be used only by this POU and VAR_GLOBAL indicates that it can be accessed by other POU In the bottom users can select A or B type contact or coil Please follow the following diagram Figure 6 36 newly created contact named PLCMODE_RUN Name PLCMODE_RUN Data Type BOOL Usage VAR_GLOBAL In this example the IO address will mapped as MX1 0 1 ...

Страница 115: ...act coil properties Add a B type contact by selecting Contact right and modify the name as shown below Figure 6 38 change type of the Inside_coil01 Please change the name as Inside_coil01 and select BOOL VAR and B Type contact then click OK to finish ...

Страница 116: ...ion Block FB and LD A timer will be added to the above mentioned example Select TON Timer On Delay in the Edit Wizard by double clicks on it Figure 6 39 select timer on delay of the FB The parameter setting window brought up by double clicks is like the following figure Figure 6 40 parameters of the TON Right click on the FB FU the assistance document will be popped up ...

Страница 117: ... contact and connect it with direct wiring as shown below Figure 6 42 TON FB example with timer input PT Double click on the blue point of PT to enter the desired timer value In this example the name is given with T 1s or T 1000ms as shown below Figure 6 43 TON FB example with coil output Q Double click on the green point of Q to set the coil output as shown below ...

Страница 118: ...k on the blue point of CLK to make it blue as shown below Figure 6 45 TON FB example with rising edge trigger properties set Click on the Contact icon to add a new a type contact and enter the name with Inside_coil01 Then add a coil on the Q position by selecting Coil right icon and name it as Rising_Edge as shown below Figure 6 46 add a right powerrail attached to Q Add an ending on the right end...

Страница 119: ...ogram flow control will be illustrated in the following part This is similar to if then else in C language Open a B contact named as Rising_Edge and add jump behind it and double click connector Jump and enter the name with jump00 as shown below Figure 6 49 add a jump named jump00 Then add a multiplier MUL Figure 6 50 multiplier The help file of MUL can be accessed as shown below ...

Страница 120: ... below SINT Short Integer 8Bit 128 127 INT Integer 16Bit 32768 32767 DINT Double Integer 32Bit 2 147 483 648 2 147 483 647 UDINT Unsigned DINT 32Bit 0 4 294 967 295 UINT Unsigned INT 16Bit 0 65535 USINT Unsigned SINT 8Bit 0 255 Table 6 1 data types could be set Note that the IN1 IN2 OUT 3 of a MUL must be set with the same data type In this example users need to enter the name and value ...

Страница 121: ...e MUL Enter jump00 as the Name and select Label and then click OK Complete the sample program and add a new GE FB as shown below Figure 6 53 consolidate all function blocks with SUB FB added Add a new MOVE with Label jump01 as shown below Select DINT_TO_WORD FB and add it on ...

Страница 122: ...01 6 4 3 Settings of Register and I O The hardware settings have VAR and VAR_GLOBAL types With GLOBAL means the I O could be shared IO_Configuration circled by red rectangular shown above is used for I O address configuration Please refer to the following table ...

Страница 123: ...characters The first character cannot be a number 2 Type Several data types including BOOL BYTE WORD etc are supported 3 Usage Can be local VAR or global variable VAR_GLOBAL 4 Description Comments can be entered here 5 Address 3 types of address are I for input Q for Output M for virtual 6 Init Initial value before PLC start up ...

Страница 124: ... 55 the FBs dumped under Variables Double click on the LD_sample and the following window will pop up Figure 6 56 the FB details Inside_coil01 could be used in other programs in the same project The usage must be set as VAR_GLOBAL Figure 6 57 set the usage as VAR_GLOBAL for sharing with other programs ...

Страница 125: ...nfiguration and the following window will pop up Figure 6 58 the IO configuration window Select the designated input output and then hit the Properties button to check the properties Figure 6 59 check input output parameters Name Enter the name here Task Select the task type ...

Страница 126: ...e driver information window would come up Figure 6 60 the driver information window Note that the only valid driver name is EasyPAC Any others will not be accepted The Datatype field could be left default 6 5 Downloading and Debugging Connect an EasyPAC correctly and turn the power on Use MyConfig to confirm the following setting Figure 6 61 EasyPAC information shown by MyConfig The default IP of ...

Страница 127: ... EasyPAC User Manual 127 Figure 6 62 get EasyPAC information from ProConOS Settings Please set the parameter as shown below and click OK Figure 6 63 set the IP parameter Then click on Project Control icon ...

Страница 128: ...d the program When users download the project please check the Include Bootproject Figure 6 65 include the Bootproject into the project to be downloaded PLC Run Mode is described in the following Cold All data will be reset Including retain and non retain SPG 1 is executed if a cold start is done ...

Страница 129: ...asks ProConOS calls the program SPG 2 is executed if the program is stopped I O driver function EasyPAC ProConOS Boot The EasyPAC run mode depends on Rotary Switch 1 setting as shown below 0 Default IP address MyConfigSvr 1 MyConfigSvr 2 MyLinkSvr 7 9 ProConOS Modbus RTU Server 7 Cold Start 8 Stop 9 Warm Start A C ProConOS Modbus TCP Server A Cold Start B Stop C Warm Start D F ProConOS D Cold Star...

Страница 130: ...us execution of Add GE means Great Equal MUL will be activated once after 1 sec Figure 6 68 FB with debug function turned on This program is similar to binary output as shown below 1 2 4 8 16 32 64 128 256 512 1024 2048 4096 The output of SUB is in the following 0 1 3 7 15 31 63 127 255 511 1023 2047 and 4095 ...

Страница 131: ...TPM EasyPAC User Manual 131 Figure 6 69 FB with debug function turned on The OUT 0x1FFF will be outputted from the DO module of IP 0 because the OUT was set to QW 1 ...

Страница 132: ... axis is always in one of the following defined states 1 Disable Initial 2 Standstill no movement 3 Homing movement to reference position 4 Discrete Motion movement towards target position 5 Continuous Motion jogging 6 Stopping axis is stopped 7 ErrorStop axis error occurred 8 Group Moving movement towards target position of multiple axis Any motion command is a transition that changes the state o...

Страница 133: ...TPM EasyPAC User Manual 133 ...

Страница 134: ...rol function blocks Output exclusivity When Execute is true the outputs Busy Done Error and CommandAborted are mutually exclusive Output status The Done InVelocity Error ErrorID and CommandAborted outputs are reset with the falling edge of Execute However the falling edge of Execute does not stop or even influence the execution of the actual FB The corresponding outputs are set for at least one cy...

Страница 135: ...at the end of the manual Done InVelocity indicate successful completion so these signals are logically exclusive to Error Types of errors Function Block Error e g parameters out of range state machine violation attempted Communication Error Amplifier Axis Error Instance errors do not always result in an axis error forcing the axis to StandStill The error outputs of the relevant FB are reset with f...

Страница 136: ...lable at the FB The Valid output is TRUE as long as a valid output value is available and the Enable input is TRUE The relevant output values are refreshed while the input Enable is TRUE If there is a FB error the output is not valid Valid set to FALSE When the error condition disappears the values will reappear and Valid output will be set again The behavior of the Execute Done style FBs is as fo...

Страница 137: ...TPM EasyPAC User Manual 137 First has completed the output First Done triggers Second Execute The output Second Done AND In13 trigger Third Execute Figure 6 72 function blocks sequence ...

Страница 138: ...n axis The figure below shows an example where the Function Block FB1 is used to control AxisX with three different values of Velocity In a Sequential Function Chart SFC the velocity 10 20 and 0 is assigned to V To trigger the Execute input with a rising edge the variable E is stepwise set and reset ...

Страница 139: ...l 139 Example 2 Different FB instances control the motions of an axis Different instances related to the same axis can control the motions on an axis Each instance will then be responsible for one part of the global profile ...

Страница 140: ...TPM EasyPAC User Manual 140 Standard behavior of 2 following absolute movements ...

Страница 141: ...TPM EasyPAC User Manual 141 ...

Страница 142: ...ion blocks mandatory according to the PLCopen Standard are marked with the letter B in the defined tables in the definition of the function blocks Input output variables marked with the letter E are optional i e they can be implemented but are not mandatory Vendor specific input output variables i e added by the vendor are marked with the letter V ...

Страница 143: ...e CommandAborted and Error are mutually incompatible When Error is TRUE ErrorID is not 0 The available Motion FB of EasyPAC is listed in the following table Index Motion FB Name Description 6 6 5 1 GA_GroupDisable Disable the grouped motion function 6 6 5 2 GA_GroupEnable Enable the grouped motion function 6 6 5 3 GA_GroupReset Reset grouped axes to Standstill 6 6 5 4 GA_GroupStop Grouped axes sto...

Страница 144: ...SystemConfig Check the system configuration 6 6 5 29 SA_ErrorJog Move the axis when limit switch is activated by jogging 6 6 5 30 SA_GetSensor Get the hardware sensor signal 6 6 5 31 SA_LoadConfigFile Load Single Axis configuration file 6 6 5 32 SA_ReadByteParameter Get Byte type data 6 6 5 33 SA_ReadDintParameter Get double integer type data 6 6 5 34 SA_ReadDwordParameter Get double word type dat...

Страница 145: ...e BOOL Please refer to the Execution Logic at section 6 6 5 Output Parameters Name Type Description AxesGroup AXIS_GROUP_REF Reference to the group of axes Done BOOL Standstill or Disabled state is reached Busy BOOL The FB is not finished and new output values are to be expected Error BOOL Signal that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8...

Страница 146: ... BOOL Please refer to the Execution Logic at section 6 6 5 Output Parameters Name Type Description AxesGroup AXIS_GROUP_REF Reference to the group of axes Done BOOL Standstill or Disabled state is reached Busy BOOL The FB is not finished and new output values are to be expected Error BOOL Signal that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8 ...

Страница 147: ...OOL Please refer to the Execution Logic at section 6 6 5 Output Parameters Name Type Description AxesGroup AXIS_GROUP_REF Reference to the group of axes Done BOOL Standstill or Disabled state is reached Busy BOOL The FB is not finished and new output values are to be expected Error BOOL Signal that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8 ...

Страница 148: ... for SlowDown stop Output Parameters Name Type Description AxesGroup AXIS_GROUP_REF Reference to the group of axes Done BOOL Standstill or Disabled state is reached Busy BOOL The FB is not finished and new output values are to be expected Active BOOL Indicates that the FB has control of the axis CommandAborted BOOL Command is aborted by another command Error BOOL Signal that an error has occurred ...

Страница 149: ...s AxisY AXIS_REF Y axis Cx DINT 134217728 134217728 Center position in X axis Cy DINT 134217728 134217728 Center position in Y axis Ex DINT 134217728 134217728 End position in X axis Ey DINT 134217728 134217728 End position in Y axis StartVelocity DWORD Start velocity MaxVelocity DWORD End velocity TAcc REAL Acceleration time in the unit of second TDec REAL Deceleration time in the unit of second ...

Страница 150: ...ill or Disabled state is reached Busy BOOL The FB is not finished and new output values are to be expected Active BOOL Indicates that the FB has control of the axis CommandAborted BOOL Command is aborted by another command Error BOOL Signal that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8 ...

Страница 151: ...Cx DINT 134217728 134217728 Relative center position in X axis OffsetCy DINT 134217728 134217728 Relative center position in Y axis OffsetEx DINT 134217728 134217728 Relative end position in X axis OffsetEy DINT 134217728 134217728 Relative end position in Y axis StartVelocity DWORD Start velocity MaxVelocity DWORD End velocity TAcc REAL Acceleration time in the unit of second TDec REAL Decelerati...

Страница 152: ...ill or Disabled state is reached Busy BOOL The FB is not finished and new output values are to be expected Active BOOL Indicates that the FB has control of the axis CommandAborted BOOL Command is aborted by another command Error BOOL Signal that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8 ...

Страница 153: ...ity TAcc REAL Acceleration time in the unit of second TDec REAL Deceleration time in the unit of second Curve BYTE Velocity profile 0 for T Curve 1 for S Curve Output Parameters Name Type Description AxesGroup AXIS_GROUP_REF Reference to the group of axes Done BOOL Standstill or Disabled state is reached Busy BOOL The FB is not finished and new output values are to be expected Active BOOL Indicate...

Страница 154: ...ity TAcc REAL Acceleration time in the unit of second TDec REAL Deceleration time in the unit of second Curve BYTE Velocity profile 0 for T Curve 1 for S Curve Output Parameters Name Type Description AxesGroup AXIS_GROUP_REF Reference to the group of axes Done BOOL Standstill or Disabled state is reached Busy BOOL The FB is not finished and new output values are to be expected Active BOOL Indicate...

Страница 155: ... the Execution Logic at section 6 6 5 RepeatCount UINT The path repeat count for a motion Output Parameters Name Type Description AxesGroup AXIS_GROUP_REF Reference to the group of axes Done BOOL Standstill or Disabled state is reached Busy BOOL The FB is not finished and new output values are to be expected Error BOOL Signal that an error has occurred within the FB ErrorID INT Please refer to the...

Страница 156: ...athFile STRING The path string indicating the motion path which is edited in MyLink Output Parameters Name Type Description AxesGroup AXIS_GROUP_REF Reference to the group of axes SegmentCount UINT The segment count of the file opened Done BOOL Standstill or Disabled state is reached Busy BOOL The FB is not finished and new output values are to be expected Error BOOL Signal that an error has occur...

Страница 157: ...it of second Curve BYTE Velocity profile 0 for T Curve 1 for S Curve Direction USINT 0 for positive direction 1 for negative direction Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Done BOOL Standstill or Disabled state is reached Busy BOOL The FB is not finished and new output values are to be expected Active BOOL Indicates that the FB has control of the axis Command...

Страница 158: ...TAcc REAL Acceleration time in the unit of second TDec REAL Deceleration time in the unit of second Curve BYTE Velocity profile 0 for T Curve 1 for S Curve Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Done BOOL Standstill or Disabled state is reached Busy BOOL The FB is not finished and new output values are to be expected Active BOOL Indicates that the FB has contro...

Страница 159: ...Acc REAL Acceleration time in the unit of second TDec REAL Deceleration time in the unit of second Curve BYTE Velocity profile 0 for T Curve 1 for S Curve Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Done BOOL Standstill or Disabled state is reached Busy BOOL The FB is not finished and new output values are to be expected Active BOOL Indicates that the FB has control...

Страница 160: ...e in the unit of second Curve BYTE Velocity profile 0 for T Curve 1 for S Curve Direction USINT 0 for positive direction 1 for negative direction Output Parameters Name Type Description Axis AXIS_REF Reference to the axis InVelocity BOOL Commanded velocity reached first time reached Busy BOOL The FB is not finished and new output values are to be expected Active BOOL Indicates that the FB has cont...

Страница 161: ...USINT The IP address of the axis Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Status BOOL Effective state of the power stage Done BOOL Standstill or Disabled state is reached Busy BOOL The FB is not finished and new output values are to be expected Active BOOL Indicates that the FB has control of the axis Error BOOL Signal that an error has occurred within the FB Err...

Страница 162: ...L Get the value of the parameter continuously while enabled Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Valid BOOL A valid output is available at the FB Error BOOL Signal that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8 LogicPosition DINT Logical commanded position EncoderPosition DINT Encoder actual position ...

Страница 163: ...e axis Enable BOOL Get the value of the parameter continuously while enabled Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Valid BOOL A valid output is available at the FB Error BOOL Signal that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8 Velocity DWORD The current position from encoder feedback ...

Страница 164: ...the axis Valid BOOL A valid output is available at the FB Error BOOL Signal that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8 GroupNo USINT The group number IsGrouped BOOL Checking the axis is grouped If the axis is grouped up TRUE it is not allowed to do single axis control If it returns FALSE grouped control is not allowed SWLimitPos BOOL Chec...

Страница 165: ...e value of the parameter continuously while enabled ParameterNumber INT Please refer to section 6 6 7 for details Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Valid BOOL A valid output is available at the FB Error BOOL Signal that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8 Value BOOL Actual parameter value ...

Страница 166: ... value of the parameter continuously while enabled ParameterNumber INT Please refer to section 6 6 7 for details Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Valid BOOL A valid output is available at the FB Error BOOL Signal that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8 Value BOOL Actual parameter value ...

Страница 167: ...XIS_REF Reference to the axis Valid BOOL A valid output is available at the FB Error BOOL Signal that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8 Disabled BOOL Servo Step driver is disabled when value is TRUE Errorstop BOOL Axis is stopped with error when Errorstop is TRUE Stopping BOOL Axis is decelerating to stop when the value is TRUE StandS...

Страница 168: ...en this value is TRUE SynchronizedMotion BOOL Axis is executing synchronized motion when this value is TRUE Homing BOOL Axis is executing homing motion when this value is TRUE ConstantVelocity BOOL Axis is executing constant velocity motion when this value is TRUE Accelerating BOOL Axis is accelerating when this value is TRUE Decelerating BOOL Axis is decelerating when this value is TRUE ...

Страница 169: ...S_REF Reference to the axis Execute BOOL Please refer to the Execution Logic at section 6 6 5 Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Done BOOL Standstill or Disabled state is reached Error BOOL Signal that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8 ...

Страница 170: ...ndStill after the axis stops StopMode BOOL 0 for immediate stop 1 for SlowDown stop Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Done BOOL Standstill or Disabled state is reached Busy BOOL The FB is not finished and new output values are to be expected Active BOOL Indicates that the FB has control of the axis CommandAborted BOOL Command is aborted by another command ...

Страница 171: ...LSE status is Stopping while the axis is still moving status will change to StandStill after the axis stops ParameterNumber INT Please refer to section 6 6 7 for details Value BOOL Actual parameter value to be set Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Done BOOL Completion of the command execution Error BOOL Signals that an error has occurred within the FB Erro...

Страница 172: ...ion Logic at section 6 6 5 EncoderPosition DINT 134217728 134217728 Encoder position value Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Done BOOL Completion of the command execution Busy BOOL The FB is not finished and new output values are to be expected Error BOOL Signals that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at secti...

Страница 173: ...ecution Logic at section 6 6 5 LogicPosition DINT 134217728 134217728 Logical position value Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Done BOOL Completion of the command execution Busy BOOL The FB is not finished and new output values are to be expected Error BOOL Signals that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at sec...

Страница 174: ...fer to the Execution Logic at section 6 6 5 ParameterNumber INT Please refer to section 6 6 7 for details Value UDINT Actual parameter value to be set Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Done BOOL Completion of the command execution Error BOOL Signals that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8 ...

Страница 175: ...c at section 6 6 5 Output Parameters Name Type Description IsMatched BOOL Check to see if the system configuration matches with MyLink settings Done BOOL Completion of the command execution Busy BOOL The FB is not finished and new output values are to be expected Error BOOL Signals that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8 ...

Страница 176: ...ection 6 6 5 Distance DINT 134217728 134217728 The relative position MaxVelocity DWORD Maximum velocity Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Done BOOL Completion of the command execution Busy BOOL The FB is not finished and new output values are to be expected Error BOOL Signals that an error has occurred within the FB ErrorID INT Please refer to the Status L...

Страница 177: ...L Get the value of the parameter continuously while enabled Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Valid BOOL A valid output is available at the FB Error BOOL Signals that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8 Ready BOOL Axis is enabled when Ready is TRUE and is disabled when FALSE ...

Страница 178: ...irection is TRUE axis moves in positive direction else it moves in negative direction Emergency BOOL Axis is in the emergency stop status when Emergency is TRUE MC_Reset is needed to reset the system ERC BOOL ERC out is HIGH when the value is TRUE and is LOW when is FALSE ZPhase BOOL Axis reaches the zero phase when ZPhase is TRUE ClearCounter BOOL ClearCounter is activated when this value is TRUE...

Страница 179: ...e Execution Logic at section 6 6 5 Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Status BOOL The status read complete flag Busy BOOL The FB is not finished and new output values are to be expected Active BOOL Indicates that the FB has control of the axis Error BOOL Signals that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section...

Страница 180: ...the value of the parameter continuously while enabled ParameterNumber INT Please refer to section 6 6 7 for details Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Valid BOOL A valid output is available at the FB Error BOOL Signals that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8 Value BYTE Actual parameter value ...

Страница 181: ... Get the value of the parameter continuously while enabled ParameterNumber INT Please refer to section 6 6 7 for details Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Valid BOOL A valid output is available at the FB Error BOOL Signals that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8 Value DINT Actual parameter valu...

Страница 182: ...Get the value of the parameter continuously while enabled ParameterNumber INT Please refer to section 6 6 7 for details Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Valid BOOL A valid output is available at the FB Error BOOL Signals that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8 Value DWORD Actual parameter valu...

Страница 183: ...t the value of the parameter continuously while enabled ParameterNumber INT Please refer to section 6 6 7 for details Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Valid BOOL A valid output is available at the FB Error BOOL Signals that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8 Value INT Actual parameter value ...

Страница 184: ...L Get the value of the parameter continuously while enabled ParameterNumber INT Please refer to section 6 6 7 for details Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Valid BOOL A valid output is available at the FB Error BOOL Signals that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8 Value USINT Actual parameter va...

Страница 185: ... value of the parameter continuously while enabled ParameterNumber INT Please refer to section 6 6 7 for details Value BYTE Actual parameter value to be set Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Done BOOL Completion of the command execution Error BOOL Signals that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8...

Страница 186: ...t the value of the parameter continuously while enabled ParameterNumber INT Please refer to section 6 6 7 for details Value DINT Actual parameter value to be set Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Done BOOL Completion of the command execution Error BOOL Signals that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section ...

Страница 187: ... the value of the parameter continuously while enabled ParameterNumber INT Please refer to section 6 6 7 for details Value DWORD Actual parameter value to be set Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Done BOOL Completion of the command execution Error BOOL Signals that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section ...

Страница 188: ...he value of the parameter continuously while enabled ParameterNumber INT Please refer to section 6 6 7 for details Value INT Actual parameter value to be set Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Done BOOL Completion of the command execution Error BOOL Signals that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 ...

Страница 189: ...et the value of the parameter continuously while enabled ParameterNumber INT Please refer to section 6 6 7 for details Value USINT Actual parameter value to be set Output Parameters Name Type Description Axis AXIS_REF Reference to the axis Done BOOL Completion of the command execution Error BOOL Signals that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at sectio...

Страница 190: ...2 5Mbps 1 5Mbps 2 10Mbps 3 20Mbps BaudRate1 USINT Baud rate of Ring_1 0 2 5Mbps 1 5Mbps 2 10Mbps 3 20Mbps DioCount USINT Number of DI O slave modules 0 48 AioCount USINT Number of AI O slave modules 0 16 AxisCount USINT Number of motion slave modules 0 32 Output Parameters Name Type Description Done BOOL Completion of the command execution Error BOOL Signals that an error has occurred within the F...

Страница 191: ...Type Description Execute BOOL Please refer to the Execution Logic at section 6 6 5 Output Parameters Name Type Description Done BOOL Completion of the command execution Error BOOL Signals that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8 KernelVersion INT Kernel version UserLibVersion INT User library version ...

Страница 192: ...cription Execute BOOL Please refer to the Execution Logic at section 6 6 5 Key1 Key16 INT SI key with number from 0 to 9 Output Parameters Name Type Description Valid BOOL A valid output is available at the FB Error BOOL Signals that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8 ...

Страница 193: ...n Execute BOOL Please refer to the Execution Logic at section 6 6 5 Key1 Key8 WORD Set the encrypted AesKey which is from 0x0000 to 0xFFFF Output Parameters Name Type Description Done BOOL Completion of the command execution Error BOOL Signals that an error has occurred within the FB ErrorID INT Please refer to the Status Logic at section 6 6 8 ...

Страница 194: ...t 9 MaxVelocityAppl DWORD R W Maximal allowed velocity of the axis 10 ActualVelocity DWORD R Actual velocity 11 CommandedVelocity DWORD R Commanded velocity 51 ErrorStopMode USINT R W The time to transit the state to ErrorStop when hardware signals Alarm PositiveLimit NegativeLimit are triggered 0 once the signals are triggered immediately 1 the hardware is stopped physically 52 FixSpeedRange BOOL...

Страница 195: ... FB execute 14 Parameter number are not correctly 15 Data type not match 17 Parameter is read only 18 Out of function block type 19 Parameter is not enough or correctly 21 Hardware error 26 API Error 27 No Support 28 Group Not Enabled 29 Invalid Path 30 Axis count of the group less than 2 31 Fail to load file 32 Axis stopped by positive limit switch blocked 33 Axis stopped by negative limit switch...

Страница 196: ... AIN0 of 106 A180 01 AGND of 106 A104 01 is connected to AIN0 AGND of 106 A180 01 And AIN4 AIN4 AGND of 106 A180 01 are connected together Figure 6 73 wiring for this example 106 A104 01 AOUT0 AGND AGND AOUT1 AGND AGND AOUT2 AGND AGND AOUT3 AGND AGND 106 A180 01 AIN0 AIN0 AGND AIN1 AIN1 AGND AIN2 AIN2 AGND AIN3 AIN3 AGND 106 A104 01 106 A180 01 AIN4 AIN4 AGND AIN5 AIN5 AGND AIN6 AIN6 AGND AIN7 AIN...

Страница 197: ...I module 2 Test display of 106 A104 01 and 106 A180 01 Figure 6 75 display of 106 A104 01 and 106 A180 01 Create a MULTIPROG project Start MULTIPROG Figure 6 76 start MULTIPROG Click on File New Project Figure 6 77 create a new project Use TPM Template as shown below ...

Страница 198: ...ew project template Click on Untitled Figure 6 79 click on the Untitled Add new variable and set the I O address Check and set the I O address with MyDataCheck 1 Use MyDataCheck for 106 A180 01 Figure 6 80 configure I O address of 106 A180 01 ...

Страница 199: ...1 Figure 6 81 configure I O address of 106 A104 01 3 Add a new variable and name it as AI_Channel_0 of 106 A180 01 Figure 6 82 add a variable of 106 A180 01 4 Add a new variable and name it as AI_Channel_1 of 106 A180 01 Figure 6 83 add a variable of 106 A180 01 ...

Страница 200: ...s AI_Channel_3 AI_Channel_4 AI_Channel_5 AI_Channel_6 and AI_Channel_7 of 106 A180 01 following the foregoing method Also add variables AO_Channel_0 AO_Channel_1 AO_Channel_2 and AO_Channel_3 in the same way Download and monitor You can monitor the variables after the program was successfully downloaded Figure 6 85 download and monitor the program ...

Страница 201: ...120 Encoder 24V 24V GND GND IN0 connected to 24V IN0 A phase NPN Open Collector IN1 connected to 24V IN1 B phase NPN Open Collector Table 6 7 counter module wiring table Configure 108 P120 with MyLink Set the EasyPAC mode to run MyLink and use MyLink to check the corresponding settings The detailed information of 108 P120 can be found in the manual The setting for this sample program is shown belo...

Страница 202: ...8 P120 with MyLink Set as shown above and click on Start to get the value as shown below Figure 6 88 screenshot of MyLink testing counter module Create a MULTIPROG project Start MULTIPROG Figure 6 89 start MULTIPROG Create with File New Project Figure 6 90 create a new project ...

Страница 203: ...template Double click on Logical POUs Untitled Figure 6 92 click on the Untitled Add new variable and set the I O address Use MyDataCheck to get the correct I O address mapping as shown below 1 Select 108 P120 and set IP as 63 as shown Figure 6 93 set IP of the counter module ...

Страница 204: ...el_0 Figure 6 94 add a new variable of 108 P120 3 Add variables Channel_1 Channel_2 and Channel_3 following the foregoing method Download and monitor You can monitor the variables after the program was successfully downloaded Figure 6 95 download and monitor the program ...

Страница 205: ...ed in this section The wiring method is described below Figure 6 96 hardware configuration Setup parameters using MyLink 1 Confirm that the module model is correct Figure 6 97 modules shown in MyLink 2 Click on the corresponding parameter column and set it correctly as shown below ...

Страница 206: ...ser Library Description EP_SetCyclicTime EASYPAC_UL Set system CyclicTime MC_Power MNet_SA_UL Enable Driver Motor SA_WriteDwordParameter MNet_SA_UL Set the limit of Max velocity MC_ReadStatus MNet_SA_UL Read Axis Status MC_ReadActualPosition MNet_SA_UL Read Axis Position MC_MoveRelative MNet_SA_UL Make relative move MC_Stop MNet_SA_UL Stop the axis Table 6 8 function blocks to be added Detailed se...

Страница 207: ...lated and set it 2ms in this case 2 Override Init to TRUE MC_Power_1 would initialize and enable the driver motor SA_WriteDwordParameter_1 will modify the maximum velocity limit as 5000000 pps then make InitFlag TRUE Figure 6 101 function block with debug mode activated MC_ReadStatus_1 and MC_ReadActualPosition_1 will be executed when InitFlag is TRUE and are used to monitor the axis status The ax...

Страница 208: ...make the axis move 100000 pulses with velocity 10000pps The status can be watched though MC_ReadStatus_1 and MC_ReadActualPosition_1 Figure 6 103 axis status with Run signal turned on 4 Override Stop to TRUE MC_Stop_1 will stop the axis with deceleration The status can be watched by MC_ReadStatus_1 and MC_ReadActualPosition_1 ...

Страница 209: ...TPM EasyPAC User Manual 209 Figure 6 104 axis status with Stop signal turned on ...

Страница 210: ...s in previous section As other axes users need to configure parameters using MyLink 1 Confirm that the module models are correct 2 Click on the corresponding parameter column and set it correctly 3 Add 2 axes on Ring_1 to Group2 Figure 6 105 group up axes 5 Click on the Group window Figure 6 106 select group axes ...

Страница 211: ...the single axis sample program and add the following Grouped Axes FBs Function Block User Library Description GA_GroupEnable MNet_SA_UL Enable the group function GA_MoveLinearRelative MNet_SA_UL Make relative linear move GA_PathSelect MNet_SA_UL Select the path file xxxx kwpts GA_MovePath MNet_SA_UL Execute the grouped motion with specified path file Table 6 10 grouped axes function blocks to be a...

Страница 212: ...mode by this button 1 Overwrite Exec to TRUE Figure 6 110 overwrite Exec to TRUE 2 Overwrite InitX to TRUE Figure 6 111 overwrite InitX to TRUE 3 Overwrite InitY to TRUE Figure 6 112 overwrite InitY to TRUE 4 The status of the grouped 2 axes can be monitored ...

Страница 213: ...TPM EasyPAC User Manual 213 Figure 6 113 function blocks monitoring group axes 5 Overwrite Group to TRUE GA_GroupEnable_1 will enable Group2 Figure 6 114 enable the group 6 Overwrite Line2 to TRUE ...

Страница 214: ...000 pulses in X and 120000 pulses in Y with velocity 10000 pps Figure 6 115 linear motion of a group 7 Overwrite MovePath to TRUE GA_PathSelect_1 will read the path file from rect1 kwpts and GA_MovePath_1 will execute the grouped linear motion Figure 6 116 linear motion of a group ...

Страница 215: ...nected to 30 as shown below Figure 6 117 wiring of the module Figure 6 118 terminal definition DI DO DI DO 00 20 10 30 01 21 11 31 02 22 12 32 03 23 13 33 04 24 14 34 05 25 15 35 06 26 16 36 07 27 17 37 Table 6 11 the wiring table Test with MyLink Set SW1 as 2 to activate MyLink server and power on and use MyLink to check the setting ...

Страница 216: ... on EasyPAC and power on and set the Modbus setting with MyConfig as shown below Modbus TCP Slave ID 1 TCP Parameters Port 502 TimeOut 3000 Figure 6 120 parameters setting using MyLink 6 7 5 1 HMI Project Create a new project HMI PT104 HMI is used in this case with Modbus TCP protocol Create a new project in the PM Designer ...

Страница 217: ...TPM EasyPAC User Manual 217 Figure 6 121 create a new project Figure 6 122 input communication parameters next Figure 6 123 input parameters ...

Страница 218: ...and set the Modbus address Use MyDataCheck to check and set the corresponding I O address of 106 D422 NN as shown below Figure 6 124 configure parameters using MyDataCheck Add and set a new LED Figure 6 125 add a new led Duplicate multiple LEDs ...

Страница 219: ...re 6 126 duplicate multiple LEDs Figure 6 127 multiple LEDs created by MyDataCheck Add Button objects and set the Modbus address Check and set the I O address of 106 D422 with MyDataCheck as shown below Figure 6 128 making of a button ...

Страница 220: ...C User Manual 220 Duplicate multiple buttons Figure 6 129 duplicate buttons Figure 6 130 multiple buttons created Download The following menu will show up after successful download Figure 6 131 downloaded program ...

Страница 221: ...Figure 6 132 start MULTIPROG Click on File New Project Figure 6 133 create a new project Use TPM Template Figure 6 134 new project template Click on Untitled Figure 6 135 click on the Untitled Add new variable and set the I O address Check and set the I O address of 106 D422 NN with MyDataCheck as shown below ...

Страница 222: ... IN_Bit_4 Bool IN_Bit_5 Bool IN_Bit_6 Bool IN_Bit_7 Bool Out_Port_0 Byte Out_Bit_0 Bool Out_Bit_1 Bool Out_Bit_2 Bool Out_Bit_3 Bool Out_Bit_4 Bool Out_Bit_5 Bool Out_Bit_6 Bool and Out_Bit_7 Bool correspondingly as the screenshot below Figure 6 137 insert new parameters Download and monitor You can monitor the variable after successful download as shown below ...

Страница 223: ...TPM EasyPAC User Manual 223 Figure 6 138 download and monitor the program The HMI menu is shown below Figure 6 139 the HMI diagram ...

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