EXLAR CORPORATION. Tritex II. EtherNet/IP - Add on Instruction 8/7/2014

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1 EXLAR CORPORATION Tritex II EtherNet/IP - Add on Instruction 8/7/2014

2 Glossary of terms AOI InOut parameter Modbus Alias Rockwell Add-On Instruction is intended to be used to encapsulate commonly used functions. An InOut parameter defines data that can be used as both input and output data during the execution of the instruction. Because InOut parameters are always passed by reference, their values can change from external sources during the execution of the Add-On Instruction Represents the Tritex II Modbus Parameter ID. For example in T2CON parameter Module defines bit 2 as Define Home with an alias of This implies this bit is mapped to Tritex II Modbus parameter ID 4316 bit 10. If a alias is without decimal 4316 this imply the AOI parameter is mapped to the entire Modbus Parameter. REV A Page 1 of 26

3 Tritex II AOI Instruction This document outlines Exlar AOI User Instructions. These AOI are intended to be used with an Exlar Tritex II with EtherNet/IP adaptor. The AOI was created using Allen-Bradley RSLogix5000 version and is intended for use with RSLogix5000 version or greater 1. Features The AOI will provided a simplify method for the user to perform operation and retrieve status of the drive. They work in conjunction with a set of Tritex II drive files which contain necessary translation tables. The following are function the user could execute with the AOI. User Units (T2UU) Converts user units Control Drive (T2CON) Instruction initiates command (Enable, Home etc) and Motion commands (Stop, Pause etc.) Drive Status (T2STA) Instruction blends returns drive status (homed, enabled etc.) with positional information Jog operation (T2JOG) Command Jog operation and associated parameters. Move operation (T2MOV) Controls one complete move operation Primary and Secondary Host Control (T2HC) Enable and run Host Control REV A Page 2 of 26

4 2. RSLogix5000 This section will give a general overview of adding and using RsLogix5000, for detail information refer to Rockwell Automation literature Adding the AOI to the RSLogix5000 application You can import an Add-On Instruction that was exported from another RSLogix 5000 project. When importing an Add-On Instruction, the parameters, local tags, and routines are imported as part of the Add-On Instruction. Once the project has the Add-On Instruction, you can use it in your programs Adding AOI to RSLogix5000 application program The Add-On Instruction can be used in any one of the Ladder Diagram, Function Block, or Structured Text languages (including Structured Text within Sequential Function Chart actions) The instruction toolbar has an Add-On tab that lists all of the currently available Add-On Instructions in the project User edit of the AOI The AOI was created using RSLogix5000 version 20.01; there are no embedded AOI s or non-standard data types within the AOI. The AOI is not protected; the Parameters, Local Tags and Logic may be edited by the user if desired. The user must assume responsibility for the operation and usability of the AOI when editing. REV A Page 3 of 26

5 3. AOI s 3.1. User Units (T2UU) The instruction establishes the values used to convert user units into drive units. It supplies the essential values needed to perform conversion. The Unit parameter output must be linked to all Exlar AOI that contain Unit parameter input. Operands Ladder Diagram Function Block Structured Text Parameters T2UU(T2UU,Units); Required Parameter Type Usage Modbus Format Description Alias X DistUUPerRev REAL Input Tag Distance User Units Per Rev X 1 VelTimeScale INT Input Tag Velocity Time User Units 0 = Seconds = Minutes X CurrentScale INT Input Tag Current Scaling =AMPS 1 = % of Config.CurrentLimit Modbus ID 5108 X Units Real[4] Output Tag Point to Conversion Unit ER BOOL Output Instruction error is Active : DistUUPerRev is equal to zero 1 Effects both velocity and acceleration units REV A Page 4 of 26

6 3.2. Control (T2CON) Use the instruction send commands to drive. Operands Ladder Diagram Function Block Structured Text T2CON(T2CON,ModuleInputs,ModuleOutputs); REV A Page 5 of 26

7 Parameters (T2CON) Required Parameter Type Usage Format Description Modbus Alias X ModuleInputs INT[101] InOut Tag Point to Input Connection Assembly X ModuleOutputs INT[101] InOut Tag Point to Output Connection Assembly Module INT Input Module Commands Bit.0: Enable Momentary The drive will try to enable on the rising edge Bit.1: Enable Maintained The drive will be enabled if bus power is applied and there are no active faults Bit.2: Define Home Defines the current position as home Bit.3: Brake Override Force actuator brake relay to be activated, releasing the brake. This input is honored whether or not the drive is enabled and overrides the normal brake behavior Bit.4: Fault Reset The rising edge will clear any faults active Motion INT Input Motion Commands Bit.0: Stop Motion Forces the drive to decelerate using STOP deceleration and hold position. The drive will be forced into a position mode of operation if necessary Bit.1: Pause Move If any move is executing, the PAUSE input event will force the drive to decelerate to zero command velocity using the current motion s deceleration and hold position until PAUSE is removed. If no move is active, the PAUSE input event has no effect Bit.2: Initiate Home Move The rising edge of the HOME input event initiates the Home Move Bit.3: Emergency Move (Dedicated Move) DF BOOL Output One or more Drive Fault are active REV A Page 6 of 26

8 3.3. Status (T2STA) Use the instruction to retrieve drive status. Operands Ladder Diagram Function Block Structured Text T2STA(T2STA,ModuleInputs,ModuleOutputs,Units); REV A Page 7 of 26

9 Parameters (T2STA) EIP Add-On Instruction Required Parameter Type Usage Modbus Format Description Alias X ModuleInputs INT[101] InOut Tag Point to Input Connection Assembly X ModuleOutputs INT[101] InOut Tag Point to Output Connection Assembly X Units Real[4] InOut Tag Point to T2UU AOI DF BOOLEAN Output 1: A Drive Fault is active Ready BOOLEAN Output 1: The READY flag is set when both the ENA and HOMED flags are active indicating that the drive is homed and enabled. ER BOOLEAN Output A Instruction error is Active 1: T2UU error is active Module Motion INT INT Output Output Module Status Bit.0: Enable Bit.1: Homed Bit.2: Ready The READY flag is set when both the ENA and HOMED flags are active indicating that the drive is homed and enabled. Bit.3: Fault Bit.4: Warning Bit.5: Fault or Warning Motion Status Bit.0: Stopped Active Bit.1: Paused Active Bit.2: Jogged active Bit.3: Jog Positive Active Bit.4: Jog Negative Active Bit.5: Initiate Home Move Active Bit.6 : EMOVE (Emergency Move) Dedicated Move Active Bit.7: Move active Bit.8: In Position active REV A Page 8 of 26

10 Parameters (T2STA) - continue Required Parameter Type Usage Position REAL Output Velocity DINT Output ContinuousCurrent REAL Output ActualCurrent REAL Output Battery INT Output BusVoltage INT Output BoardTemp INT Output ActuatorTemp INT Output Warning INT Output Faults INT Output Format Description Modbus Alias User Units Position 378 User Units - Velocity 356 User Units - Continuous Current (Units is based on T2UU CurrentScale configuration) User Units - Actual Current (Units is based on T2UU CurrentScale configuration) Hall Battery Voltage Bus Voltage (filter) 571 Board Temperature C 11 Actuator Temperature C 15 Drive Warnings 7 Bit.0: IPK Peak Current 7.00 Bit.1: C Continuous Current 7.01 Bit.2: POS Position Tracking 7.02 Bit.3: MV Move Termination 7.03 Bit.4: VLOW Low DC Bus Voltage 7.04 Bit.5: VHIGH High DC Bus Voltage 7.05 Bit.6: FE Positional Following Error 7.06 Bit.7: BT Board Temperature 7.07 Bit.8: AT Actuator Temperature 7.08 Bit.9: LOS Loss of Signal 7.09 Bit.10: COM Communications 7.10 Bit.11: IH Hardware Over current 7.11 Bit.12: HB Absolute Hall Board Battery 7.12 Bit.13: UP User Parameters 7.13 Bit.14: FP Factory Parameters 7.14 Bit.15: RS Restart 7.15 Drive Faults (Reference Warning for bits) 6 REV A Page 9 of 26

11 3.4. JOG (T2JOG) Use the instruction to move an a drive at a constant speed until you tell it to stop. Operands Ladder Diagram Function Block Structured Text T2JOG(T2JOG,ModuleInputs,ModuleOutputs,Units); REV A Page 10 of 26

12 Parameters (T2JOG) Required Type Usage Format Description Modbus Alias Parameter X ModuleInputs INT[101] InOut Tag Point to Input Connection Assembly X ModuleOutputs INT[101] InOut Tag Point to Output Connection Assembly X Units Real[4] InOut Tag Point to T2UU AOI Input INT Direction Direction Bit.0: Jog Plus Bit.1: Jog Minus Velocity INT Input Jog Velocity (User Units) 6022 Acceleration INT Input Jog Acceleration (User Units) 6026 ER BOOL Output A Instruction error is Active 1: T2UU error is active DF BOOL Output A Drive Fault is active INT Output Active Status information Bit.0: Jog Plus active Bit.1: Jog Minus active Bit.2: The STOPPED flag is active while the STOP input event is active Bit.3: The READY flag is set when both the ENA and HOMED flags are active indicating that the drive is homed and enabled. REV A Page 11 of 26

3.5. Move (T2MOV ) Use the instruction to execute an drive move operation. The user can specify the positon as well as the desired velocity, acc/decel for the primary and seconday move.

13 3.5. Move (T2MOV ) Use the instruction to execute an drive move operation. The user can specify the positon as well as the desired velocity, acc/decel for the primary and seconday move. The instruction moves an axis to either a specified absolute position or by a specified incremental distance specfified in user units. Operands Ladder Diagram Function Block Structured Text T2MOV(T2MOV,ModuleInputs,ModuleOutputs,Units); REV A Page 12 of 26

14 Parameters (T2MOV) Required. Usage Format EIP Add-On Instruction Modbus Alias Parameter Type Description X ModuleInputs INT[101] InOut Tag Point to Input Connection Assembly X ModuleOutputs INT[101] InOut Tag Point to Output Connection Assembly X Units Real[4] InOut Tag Point to T2UU AOI Execute INT Input Options INT Input Current Limit REAL Input Acceleration INT Input Deceleration INT Input Prim Position REAL Input Prim Velocity INT Input Prim Option INT Input Move 0 Control Bit.0: Move 0 Maintained Bit.1: Move 0 Momentary Move 0 Options Bit.0: Secondary Motion Enable Current Limit Units is based on T2UU 6101 CurrentScale configuration Acceleration 6102 Deceleration Primary Position Primary Velocity Primary Move Options %000 = Absolute Position %001 = Incremental %010 = Unlimited (+) %011 = Unlimited (-) %100 = Absolute (+) only %101 = Absolute (-) only Bit.3: Limit maximum Current Bit.4: Terminate on Current Limit Bit.5: Fault if terminated by current limit REV A Page 13 of 26

15 Parameters (T2MOV) Required Parameter Type - continue Usage Sec Position REAL Input Sec Velocity INT Input Format Description Secondary Position Secondary Velocity Modbus Alias 6114 Input Sec Option INT Secondary Option %000 = Absolute Position %001 = Incremental %010 = Unlimited (+) %011 = Unlimited (-) %100 = Absolute (+) only %101 = Absolute (-) only Bit.3: Limit maximum Current Bit.4: Terminate on Current Limit Bit.5: Fault if terminated by current limit ER BOOL Output A Instruction error is Active 1: T2UU error is active DF BOOL Output A Drive Fault is active IP BOOL Output Move 0 In Position Active INT Status information Output 6116 Bit.0: Ready The READY flag is set when both the ENA and HOMED flags are active indicating that the drive is homed and enabled. Bit.1: Move 0 In Position Bit.2: Move 0 active REV A Page 14 of 26

16 3.6. Host Control (T2HC ) Use instruction to control drives Host Control Option. Operands Ladder Diagram Function Block Structured Text T2HC(T2HC,ModuleInputs,ModuleOutputs,Units); REV A Page 15 of 26

17 Parameters (T2HC) Required Usage Format Modbus Alias Parameter Type Description X ModuleInputs INT[101] InOut Tag Point to Input Connection Assembly X ModuleOutputs INT[101] InOut Tag Point to Output Connection Assembly X Units REAL[4] InOut Tag Point to T2UU AOI CommandMode INT Input Direct Host Control 0 = Disabled 5 = Position 6 = Velocity 7 =Current Position REAL Input 4304 Target Position Velocity INT Input 4306 Velocity Limits Acceleration INT Input 4308 Acceleration Limits Current REAL Input Current Units is based on T2UU CurrentScale 4310 configuration A Instruction error is Active ER BOOL Input 1: T2UU error is active or Invalid CommandMode DF BOOL Input A Drive Fault is active Using AOI s This section will walk through examples of configuring AOI s T2UU Example One of the first tasks in using AOIs is to add and configure the user units in application. REV A Page 16 of 26

18 Example will use Rotary Tritex Gear ratio of 1:1 - making DistUUPerRev (Distance User Units per Revolutions) 1. Velocity is seconds - velocity units RevPerSecond and our acceleration is RevPerSecPerSec. Current is configured for amps. Parameter Description value DistUUPerRev Distance User Units Per Rev 1 VelTimeScale 1 Velocity Time User Units 0 = Seconds, 1 = Minutes 0 CurrentScale Current Scaling 0 0 =AMPS, 1 = % of Config.CurrentLimit Units Point to Conversion Unit Tag name 2 myunits ER Instruction error Active 3 0 = No errors 1 VelTimeScale effects both velocity and acceleration units. Selecting zero implies velocity units are UserUnitsPerSecond and acceleration is UserUnitsPerSecPerSec. 2 myunits is an array of 4 elements used to connected T2UU configuration to other AOIs. 3 T2UU is configure with valid data 4.2. T2JOG Example Here add JOG AOI to the application. Remembering to Link the User Unit to JOG and because Instruction is using Inputs and Outputs, the ModuleInputs and ModuleOutputs parameters need to linked module IO controller tags. See Figure below. REV A Page 17 of 26

19 From the table below, JOG instruction will command module Jog Plus, with a velocity of 5 RevPerSec and an acceleration of 60 RevPerSecPerSec. If the actuator is enabled and homed, the active status will be 9. Parameter Description Value ModuleInputs Tag name: 1 Tritex2:I.Data ModuleOutputs Tag name: 1 Tritex2:O.Data Units Point to T2UU AOI Tag name: 2 myunits Direction Direction Bit.0 =1 : Jog Plus 1 = Jog Plus Bit.1 = 0 : Jog Minus Velocity Jog Velocity (UserUnitsPerSecond) 5 Acceleration Jog Acceleration (UserUnitPersecondPerSecond) 60 Active Status information Bit.0 = 1 : Jog Plus active 9 (%1001) Bit.1 = 0 : Jog Minus active Bit.2 = 0 : The STOPPED flag is active while the STOP input event is active Bit.3 = 1 : The READY flag is set when both the ENA and HOMED flags are active indicating that the drive is homed and enabled. ER A Instruction error is Active 0 = No errors DF A Drive Fault is active 0 = No Faults active 1 Module Tag names were created when new module was added to project. 2 myunits is a local tag (type Real [4]), used in this example. It allows T2UU instruction to be reference by other AOI s. REV A Page 18 of 26

20 4.3. T2STA Example Additional module information can be retrieve from the actuator by using Status instruction. Keep in mind instruction parameters ModuleInputs, ModuleOutputs and UNITS must be linked for proper operation. See figure below. The AOI handles all calculation and uses standard data types within the AOI. The AOI is not protected; the Parameters, Local Tags and Logic may be edited by the user if desired. The instruction returns status information for module, motion, warning and faults. Temperature are displayed in Celsius, while voltage in volts. Currents units are controlled by T2UU CurrentScale. If CurrentScale equal zero ContinuousCurrent will contain actuator continuous current in ma; else if CurrentScale is one, ContinuousCurrent is percentage of Current Limit (Modbus ID 5108). Actual position is calculated by using actuator feedback and T2UU parameter DistUUPerRev. Velocity will use T2UU parameters DistUUPerRev and VelTimeScale to determine velocity. The example configured VelTimeScale with a value of 0 (UserUnitsPerSec). Outputs allow simple access to status information: DF is based on actuator faults (Modbus ID 104 bit 3), ER is instruction error and ready is actuator Ready bit (Modbus ID 104 bit 2); ready is logic combination of enabled and homed. REV A Page 19 of 26

21 4.4. T2CON Example The instruction is used to send Control commands for overall module and motion. For example the module parameter can enable Actuator and enable Brake Override; while the motion parameter controls Motion Pause, Initiate Home and other motion commands. This example Enable Module Maintained and initiate Home Move. Parameter Description Value ModuleInputs Point to Input Connection Assembly Tag name: Tritex2:I.Data ModuleOutputs Point to Output Connection Assembly Tag name: Tritex2:O.Data Module Module Commands 2 (%00010) Bit.0 = 0: Enable Momentary Bit.1 = 1: Enable Maintained Bit.2 = 0: Define Home Bit.3 = 0: Brake Override Bit.4 = 0: Fault Reset Motion Motion Commands 4 (%0100) Bit.0 = 0: Stop Motion Bit.1 = 0: Pause Move Bit.2 = 1: Initiate Home Move Bit.3 = 0: Emergency Move (Dedicated Move) Because instruction does not convert position, current or etc., linking to Units is not needed. REV A Page 20 of 26

22 4.5. T2MOV Example The instruction moves actuator to either a specified absolute position or by a specified incremental distance. The Move instruction can also produce other special types of moves using the Tritex Primary and Secondary capability. After adding the instruction and linking the ModuleInputs, ModuleOutputs and Units to appropriated tag. The Move parameters (accel, decel, position etc.) could be used by immediate values s. This example, assume you are programming an incremental distance move of 10 Revs, and a target velocity of 500 with acceleration Due to current limit option is not enabled, value is ignored by Tritex. 4 Secondary move is not shown, because it is disabled by written 0 to Options parameter. Outputs allow simple access to status information: DF is based on actuator faults (Modbus ID 104 bit 3), ER is instruction error and IP is actuator In Position bit (Modbus ID 108 bit 0). Parameter Description Value ModuleInputs Point to Input Connection Assembly Tag name: 1 Tritex2:I.Data ModuleOutputs Point to Output Connection Assembly Tag name: 1 Tritex2:O.Data Units Point to T2UU AOI Tag name: 2 myunits Execute Move Control 1 = Move Maintained Options 4 Move Options 0 = Secondary Motion Disabled Current Limit 3 Current Limit Acceleration Acceleration (UserUnits per second per second) 1000 Deceleration Deceleration (UserUnits per second per second) 200 Prim Position Primary Position 10 Prim Velocity Primary Velocity (UserUnitsPerSec) 500 Prim Option Primary Move Options 1 (%000001) (%001) Incremental Bit.3 = 0 : Limit maximum Current Bit.4 = 0 : Terminate on Current Limit Bit.5 = 0 : Fault if terminated by current limit 1 Module Tag names were created when new module was added to project. 2 myunits is a local tag (type Real [4]), used in this example. It allows User Units instruction to be reference by other AOI s. REV A Page 21 of 26

23 5. Exlar Tritex Expert Translation Tables All Tritex functionality is parameter based. This allows listing of any parameters associated with every functional capability of the Tritex. The EtherNet/IP mapping allows up to 101 Inputs and 101 Outputs. For AOI functionality a defined parameters list was created to identify Read Parameters from the EtherNet/IP Host or Write Parameters to the Host. These translation tables are integrated in Exlar Expert software and are located in the Generic EIP Drive file. For more information concerning tables, refer to Exlar Expert software manual. Output Mapping (PLC Inputs) Modbus ID Description 0 1 <Reserved> Status.IO.OutputEventsStatus Status.IO.OutputEventsMoveInPosition Status.IO.OutputEventsMotion Status.IO.OutputEventsMoveActive Status Position Feedback (low) 6 Status Position Feedback (High) 7 7 Status.Mode,SoftFaults (Warnings) 8 6 Status.Mode.HardFault (Faults) Status Velocity Display (Low) 10 Status Velocity Display (High) Status Current Display Status Current Continuous Config.CurrentLimit 14 8 Status.Voltage.HallBattery Status.Voltage.Vbus Status.Temperature.Board Status.Temperature.Actuator Word is used by EIP module to return its status, reference Appendix for more information. REV A Page 22 of 26

24 Input Mapping (PLC Outputs) Modbus ID Description 0 1 <Reserved> Control.InputEvents.Mode Control.InputEvents.ModeLevel Control.InputEvents.Motion Control.Host.CommandMode Control.Host.Postion(low) 6 Control.Host.Postion(High) Control.Host.Velocity(Low) 8 Control.Host.Velocity(High) Control.Host.Acceleration(Low) 10 Control.Host.Acceleration(High) Control.Host.Current Control.InputEvents.moveEdge Jog Slow 14 Jog Slow Jog Acceleration 16 Jog Acceleration Move 0 Options Move 0 Current Limits Move 0 Acceleration (Low) 20 Move 0 Acceleration (High) Move 0 Deceleration (Low) 22 Move 0 Deceleration (High) Move 0 Primary - Options 24 <open> Move 0 Primary Position (Low) 26 Move 0 Primary Position (High) Move 0 Primary Velocity (Low) 28 Move 0 Primary Velocity (High) Move 0 Secondary - Options 30 <open> Move 0 Secondary Position (Low) 32 Move 0 Secondary Position (High) Move 0 Secondary Velocity (Low) 34 Move 0 Secondary Velocity (High) Bit 0 of word is used by EIP module to permit Outputs to be updated, reference Appendix for more information. REV A Page 23 of 26

25 6. Appendix 6.1. AOI outline AOI Name User defined Tag Name 6.2. How to associate Module Input/Outputs to AOI Module name Tritex2 After you define and configure the actuator, RSLogix5000 will generate the controller Tags associated to the module. If the AOI needs Module IO, it must be linked to the module controller tags. REV A Page 24 of 26

26 AOI ModuleOutputs ModuleInputs 6.3. EIP Module Reserve Words The EIP first word for both Inputs and output are reserved for control and status information; allowing only 100 word input and output data available for parameter data. These words are not accessible by Tritex. PLC Output word Description Description Run / Idle Enable Output Update 0 : Idle - Tritex Output Tables are not updated 1: Run - Tritex Output Tables are updated Controls whether Outputs are sent from EIP module to main board PLC Input word Description Bit Description (bit Definition) EIP module communication Error a Modbus error is active the EtherNet/IP - Extended Module Status 0 (Attribute 101) contains additional error information. If a valid message is received status Error bit is cleared. 1 Error communication between EIP timed-out (was previously established) 2 Error communication with EIP cannot be established at all 3 7 Reserve 8 EIP module is currently active at factory defaults 9 EIP module has a new configuration that will take effect upon reset 10 - Reserve 15 Returns communication status between EIP module and main board REV A Page 25 of 26

27 6.4. Additional Reference Tritex II EtherNetIP Option manual Tritex II Parameters Manual Logix5000 Controllers Add-On Instruction by Rockwell Automation 1756-PM010E-EN-P September REV A Page 26 of 26

Expert Software Manual for Tritex II AC & DC Actuators and EXP-24 Controllers

Expert Software Manual for Tritex II AC & DC Actuators and EXP-24 Controllers Information furnished by Exlar Corporation is believed to be accurate and reliable. However, no responsibility is assumed by