RoboCylinder Profibus Sample Projects

Transcription

1 RoboCylinder Profibus Sample Projects Instruction Manual for SIMATEC S7 First Edition IAI Industrieroboter GmbH Ober der Röth 4 D Schwalbach / Taunus Phone: 06196/8895-0/Fax: 06196/ info@iai-gmbh.de Internet: Document Profibus-Gateway S7-Sample Projects_eng RoboCylinder Profibus Sample Projects EU Version 1 E,

2 Instruction Manual for SIMATIC S7 Profibus Sample Projects Table of Contents 1. Note RC Gateway Sample Projects Overview Assumed System Diagram ROBONET Sample Projects Overview Assumed System Diagram Sample FBs and FCs RBNT_EZMOV_ RBNT_NCMOV_ RBNT_MOVP2_ RBNT_MANU_ ACON, PCON Sample Projects Overview Assumed System Diagram Sample FBs and FCs CON_B8MOV_ CON_B16MOV_ CON_B32MOV_ CON_MANU_ How to Utilize FBs Inserting a Source File Generating/Compiling a FB Generating a DB /15

3 1. Note The sample projects referenced in this document are intended to help the reader gain a better understanding of functions provided by function blocks, and not designed for use in actual applications. For the explanation of detailed functions of function blocks, refer to separate manuals, etc. Also note that these function blocks are provided free of charge and will be changed as deemed necessary to better conform to various applications. 2. RC Gateway Sample Projects 2.1 Overview Project file name Gateway DIP SW setting Name of FB/FC used ProGWFBsampl_1 9 GW_CTL_11 RC_BCMOVP_00 RC_ESYNC_00 RC_PMSL_00 RC_PROM_00 RC_READ_00 RC_WRITE_00 ProGWFBsampl_2 0 GW_CTL_11 RC_NVC_11 Remarks Immediately after the system is started, the four axes move automatically using RC_ESYNC_00. Follow the operation overview and operating method provided in the comment field for each circuit. The four axes move automatically using RC_NVC_ Assumed System Diagram SIMATIC S7-300 Power supply CPU315-2DP MPI DP Station 0 Profibus-DP Network address (NA) = 1 RCB-GW-RO Station 1 Station 2 Station 3 Modbus controller + Actuator with a stroke of 50 mm Modbus controller + Actuator with a stroke of 50 mm Modbus controller + Actuator with a stroke of 50 mm Modbus controller + Actuator with a stroke of 50 mm 2/15

4 3. ROBONET Sample Projects 3.1 Overview Project file name Name of FB/FC used Remarks ProGWFBsampl_3 RBNT_EZMOV_01 RBNT_NCMOV_01 RBNT_MANU_01 These FBs are used for ROBONET. Axis 0 is of positioner 1 type, axis 1 is of simple numerical type, and axis 2 is of positioning type. After the servo has been turned on and home return completed, the axes move continuously. They also perform MANU operation. ProGWFBsampl_4 After the servo has been turned on and home return completed, the three RBNT_MOVP2_01 axes of positioner 2 type (one axis occupies four input bytes and four output bytes) move continuously. 3.2 Assumed System Diagram SIMATIC S7-300 Power supply CPU315-2DP MPI DP PROFIBUS #1: Positioner 1 #1: Simple numerical #2: Positioning Sample 3 #0-2: Positioner 2 Sample 4 Network address (NA) = 1 IAIB2F.GSD RGW-CC #0 RACON-20 #1 RACON-20 #2 RACON-20 Axis Axis Axis 3/15

5 3.3. Sample FBs and FCs RBNT_EZMOV_01 Explanation; A FB for issuing commands to positioner 1 or simple numerical axes. The axis starts moving at the leading edge of MREQ after the movement data has been set. When the axis reaches the target position or misses the load it is supposed to push, one DONE pulse is output. ENO turns ON only when the CRDY signal of the axis specified by EN or AXIS is ON or the value of AXIS is 15 or less. If the value of AXIS exceeds 15, the ALM turns ON and 0x8000 is output to PM. The PCMD input is effective only in the simple numerical mode. The ZP output is effective only in the positioner 1 mode. Parameter; Name Data type Explanation Input SON BOOL Servo ON command HOME BOOL Home return command STOP BOOL Pause command ALMRS BOOL Alarm reset command MREQ BOOL Movement starts at the leading edge of this signal. PCMD DINT Target position POSN UINT Movement parameter or movement target POS number GW_CH UINT Initial ROBONET I/O address AXIS UINT Axis number (0 to 15) Output SERVO BOOL Servo status HEND BOOL Home return status ALM BOOL An alarm occurred or the value of AXIS exceeds 15. EMG BOOL Emergency stop status ZP BOOL Position zone output monitor Z1 BOOL Zone output monitor 1 Z2 BOOL Zone output monitor 2 DONE BOOL Movement completed pulse (A pulse output at the leading edge of Pend or Psfl) PNOW DINT Current position Change 00 Issued. history; 01 Simplified the internal calculation process for initial address and deleted MSTR. 4/15

6 RBNT_NCMOV_01 Explanation; A FB for issuing commands to numerical control axes. The axis starts moving at the leading edge of MREQ after the movement data has been set. When the axis reaches the target position or misses the load it is supposed to push, one DONE pulse is output. ENO turns ON only when the CRDY signal of the axis specified by EN or AXIS is ON or the value of AXIS is 15 or less. If the value of AXIS exceeds 15, the ALM turns ON and 0x8000 is output to ALMC. If the INP input is 0 (zero), 10 (0.1 mm) is set internally by force. Parameter; Name Data type Explanation Input SON BOOL Servo ON command HOME BOOL Home return command STOP BOOL Pause command ALMRS BOOL Alarm reset command MREQ BOOL Movement starts at the leading edge of this signal. PUSH BOOL Push mode if TRUE DIR BOOL Push direction (0 = Home return direction, 1 = Direction opposite to home return) PCMD DINT Target position VCMD UINT Speed ADCC UINT Acceleration/deceleration PPOW WORD Push % (Effective when PUSH is ON) INP UDINT Positioning band (Push band if PUSH is ON) GW_CH UINT Initial ROBONET I/O address AXIS UINT Axis number (0 to 15) Output SERVO BOOL Servo status HEND BOOL Home return status ALM BOOL An alarm occurred or the value of AXIS exceeds 15. EMG BOOL Emergency stop status DONE BOOL Movement completed pulse (A pulse output at the leading edge of Pend or Psfl) PNOW DINT Current position CNOW DINT Value of current electrical flow command VNOW INT Current speed ALMC WORD Error code Change 00 Issued. history; 01 Simplified the internal calculation process for initial address and deleted MSTR. 5/15

7 RBNT_MOVP2_01 Explanation; A FB for issuing commands to positioner 2 axes. The axis starts moving at the leading edge of MREQ after the movement data has been set. When the axis reaches the target position or misses the load it is supposed to push, one DONE pulse is output. ENO turns ON only when the CRDY signal of the axis specified by EN or AXIS is ON or the value of AXIS is 15 or less. If the value of AXIS exceeds 15, the ALM turns ON and 0x8000 is output to PM. Parameter; Name Data type Explanation Input SON BOOL Servo ON command HOME BOOL Home return command STOP BOOL Pause command ALMRS BOOL Alarm reset command MREQ BOOL Movement starts at the leading edge of this signal. POSN UINT Movement parameter or movement target POS number LADDR UINT Initial ROBONET I/O address AXIS UINT Axis number (0 to 15) Output SERVO BOOL Servo status HEND BOOL Home return status ALM BOOL An alarm occurred or the value of AXIS exceeds 15. EMG BOOL Emergency stop status ZP BOOL Position zone output monitor Z1 BOOL Zone output monitor 1 Z2 BOOL Zone output monitor 2 DONE BOOL Movement completed pulse (A pulse output at the leading edge of Pend or Psfl) Change 00 Issued. history; 01 Simplified the internal calculation process for initial address and deleted MSTR. 6/15

8 RBNT_MANU_01 Explanation; A FB for issuing commands to manual operation axes. The axis specified by AXIS (not of positioner 2 type) is jogged, inched or taught or its brake is released. This FB may cause access contention with other movement FBs and must therefore be called exclusively. Parameter; Name Data type Explanation Input MODE BOOL Teaching mode PWRT BOOL Position data read POSN UINT Data read position number JOG_P BOOL Jog+ command JOG_M BOOL Jog- command JVEL BOOL Jog speed/inch distance switching JISL BOOL Jog/inch switching BRKL BOOL Force brake release GW_CH UINT Initial ROBONET I/O address AXIS UINT Axis number (0 to 15) Output MODES BOOL Teaching mode WEND BOOL Status of position data read command PEND BOOL Movement completed MOV BOOL Moving PNOW DINT Current position AERR BOOL The value of AXIS exceeds 15. Change 00 Issued. history; 01 Simplified the internal calculation process for initial address. 7/15

9 4. ACON and PCON Sample Projects 4.1 Overview Project file name Name of FB/FC used Remarks ProGWFBsampl_5 CON_B8ZMOV_00 CON_B16ZMOV_00 CON_B32ZMOV_00 These FBs are used for ACON and PCON controllers. They support fieldbus operation mode 1 (eight IQ bytes are occupied), mode 2 (16 IQ bytes are occupied) and mode 3 (32 IQ bytes are occupied). CON_MANU_00 MANU operation is performed. 4.2 Assumed System Diagram SIMATIC S7-300 Power supply CPU315-2DP MPI DP PROFIBUS No. Fieldbus parameters Name Value 84 Fieldbus operation mode 1 85 Fieldbus node address 1 86 Fieldbus baud rate 0 87 Network type 3 90 Fieldbus I/O format 0 No. Fieldbus parameters Name Value 84 Fieldbus operation mode 2 85 Fieldbus node address 3 86 Fieldbus baud rate 0 87 Network type 3 90 Fieldbus I/O format 0 No. Fieldbus parameters Name Value 84 Fieldbus operation mode 3 85 Fieldbus node address 4 86 Fieldbus baud rate 0 87 Network type 3 90 Fieldbus I/O format 0 PCON (ACON) PCON (ACON) PCON (ACON) Axis Axis Axis 8/15

10 4.3. Sample FBs and FCs For the details of FB I/O parameters, refer to the explanations of similar variables found in the operation manual for each controller. Since not all assigned data is utilized, the user is advised to add new functions not yet assigned to the I/O parameters CON_B8MOV_00 Explanation; For simple numerical control or positioner control (eight input bytes and eight output bytes are occupied). The axis starts moving at the leading edge of MREQ after the movement data has been set. When the axis reaches the target position or misses the load it is supposed to push, one DONE pulse is output. ENO turns ON only when LADDR is normal and the CRDY signal is ON. Parameter; Name Data type Explanation Input MREQ BOOL Movement starts at the leading edge of this signal. HOME BOOL Home return command STP BOOL Pause command RES BOOL Alarm reset command SON BOOL Servo ON command PMOD BOOL Simple numerical mode if TRUE. Positioner mode if FALSE. PCMD DINT Target position POSN INT Parameter position number for simple numerical movement or movement position number LADDR WORD Initial controller I/O address Output SV BOOL Servo status HEND BOOL Home return status ALM BOOL An alarm occurred or the I/O address is invalid. EMG BOOL Emergency stop status RMDS BOOL Operation mode status (AUTO/MANU) ZP BOOL Position zone Z2 BOOL Zone 2 Z1 BOOL Zone 1 DONE BOOL Movement completed pulse (A pulse output at the leading edge of Pend or Psfl) PNOW DINT Current position PM INT Completed position number or simple alarm code Change history; 00 Issued. 9/15

11 CON_B16MOV_00 Explanation; For half direct control (16 input bytes and 16 output bytes are occupied). The axis starts moving at the leading edge of MREQ after the movement data has been set. When the axis reaches the target position or misses the load it is supposed to push, one DONE pulse is output. ENO turns ON only when LADDR is normal and the CRDY signal is ON. If the INP input is 0 (zero), 10 (0.1 mm) is set internally by force. Parameter; Name Data type Explanation Input MREQ BOOL Movement starts at the leading edge of this signal. HOME BOOL Home return command STP BOOL Pause command RES BOOL Alarm reset command SON BOOL Servo ON command PUSH BOOL Push mode if TRUE DIR BOOL Push direction (0 = Home 1 = Direction opposite to home return) PCMD DINT Target position INP DINT Positioning band VCMD INT Speed (1.0 mm/sec) ADCC INT Acceleration/deceleration PPOW WORD Push %. Example of input) Push 50% W#16#7F3 LADDR WORD Initial controller I/O address Output SV BOOL Servo status HEND BOOL Home return status ALM BOOL An alarm occurred or the I/O address is invalid. EMG BOOL Emergency stop status RMDS BOOL Operation mode status (AUTO/MANU) Z2 BOOL Zone 2 Z1 BOOL Zone 1 DONE BOOL Movement completed pulse (A pulse output at the leading edge of Pend or Psfl) PNOW DINT Current position CNOW DINT Value of current electrical flow command VNOW DINT Current speed ALMC WORD Error code Change history; 00 Issued. 10/15

12 CON_B32MOV_00 Explanation; For full direct control (32 input bytes and 32 output bytes are occupied). The axis starts moving at the leading edge of MREQ after the movement data has been set. When the axis reaches the target position or misses the load it is supposed to push, one DONE pulse is output. ENO turns ON only when LADDR is normal and the CRDY signal is ON. If the INP input is 0 (zero), 10 (0.1 mm) is set internally by force. Parameter; Name Data type Explanation Input MREQ BOOL Movement starts at the leading edge of this signal. HOME BOOL Home return command STP BOOL Pause command RES BOOL Alarm reset command SON BOOL Servo ON command PUSH BOOL Push mode if TRUE DIR BOOL Push direction (0 = Home 1 = Direction opposite to home return) INC BOOL Relative position specification PCMD DINT Target position INP UDINT Positioning band (Push band if PUSH is ON) VCMD DINT Speed (1.0 mm/sec) ACC INT Acceleration DCC INT Deceleration PZP DINT Zone boundary+ PZM DINT Zone boundary- PP_LPO W WORD Push % and load threshold. Example of input) Push 50%, load 25% W#16#7F3F LADDR WORD Initial controller I/O address Output SV BOOL Servo status HEND BOOL Home return status ALM BOOL An alarm occurred or the I/O address is invalid. EMG BOOL Emergency stop status RMDS BOOL Operation mode status (AUTO/MANU) ZP BOOL Position zone Z2 BOOL Zone 2 Z1 BOOL Zone 1 DONE BOOL Movement completed pulse (A pulse output at the leading edge of Pend or Psfl) PNOW DINT Current position CNOW DINT Value of current electrical flow command VNOW DINT Current speed ALMC WORD Error code Change history; 00 Issued. 11/15

13 CON_MANU_00 Explanation; A function for issuing commands to manual operation axes. The axis specified by IQ_LEN and LADDR (not of positioner 2 type) is jogged, inched or taught or its brake is released. This function can be used only with controllers operating in fieldbus operation mode 1, 2 or 3. Parameter; Name Data type Explanation Input MODE BOOL Teaching mode PWRT BOOL Position data read W_POS UINT Data read position number N JOG_P BOOL Jog+ command JOG_M BOOL Jog- command JVEL BOOL Jog speed/inch distance switching JISL BOOL Jog/inch switching BRKL BOOL Force brake release IQ_LEN INT I/O byte length (Only 8, 16 and 32 are supported.) LADDR WORD Initial controller I/O address Output MODES BOOL Teaching mode WEND BOOL Status of position data read command PEND BOOL Movement completed MOV BOOL Moving PNOW DINT Current position AERR BOOL I/O address error Change history; 00 Issued. 12/15

14 5. How to Utilize FBs FBs are provided as source files ([Function block name_revision number].awl). This chapter explains how to utilize in a user project a source file provided by IAI Inserting a Source File [1] Select the Source File folder, click Insert, and then select External Source [2] The following file selection screen appears. Select an appropriate source file, and then click Open. [3] The source file is imported to the Source File folder. 13/15

15 5.2. Generating/Compiling a FB Instruction Manual for SIMATIC S7 Sample Projects [1] Insert a new FB in the Blocks folder. On the insertion screen, enter the name of the FB you want to create under Symbolic Name and also enter other necessary items, as follows, and then click OK. The inserted FB appears in the Program elements tree on the program edit screen, as follows. If the FB is inserted in a circuit in this condition, it will be shown as follows because the source file is not yet compiled. <No tentative parameters> [2] Compile the source file. When the compilation has completed successfully, insert the FB in the circuit again. This time, the FB is shown properly as follows. <Proper tentative parameters> 14/15

16 5.3 Generating a DB Instruction Manual for SIMATIC S7 Sample Projects [1] Insert a DB for a new FB in the Blocks folder. On the insertion screen, enter the name of the DB you want to create under Symbolic Name and also enter other necessary items, as follows, and then click OK. [2] On the program screen, enter the instance name of the FB. Now, the FB can be called, as follows, without any portion indicated in red. When Symbol Editor is opened, the FB and DB have been registered automatically, as shown below. 15/15

17 RoboCylinder Profibus Gateway Simatic S7, Manual No.: 0708-E IAI Industrieroboter GmbH Ober der Röth 4, D Schwalbach / Taunus Germany Phone:+49-(0) Fax: +49-(0) info@iai-gmbh.de Internet: IAI America Inc W. 237th Street, Torrance, CA 90505, USA Tel.: Fax: IAI CORPORATION Shimizu Hirose, Shizuoka , Japan Tel.: Fax: The information contained in this document is subject to change without notice for the purpoe of product improvement. Copyright Mar. IAI Corporation. All rights reserved.