TRANS200 Interface Description. Application Manual SYSTEM200 DOK-TRA200-SPS*COM*V22-AW01-EN-P

Transcription

1 TRANS200 Interface Description Application Manual SYSTEM200

2 About this Documentation TRANS200 Interface Description Title Type of Documentation TRANS200 Interface Description Application Manual Document Typecode Internal File Reference Document Number B310-01/EN Purpose of Documentation This documentation describes the interface between PLC and CNC of TRANS200. Record of Revisions Description Release Date Notes B310-01/EN Valid from version 22 Copyright 2002 Rexroth Indramat GmbH Copying this document, giving it to others and the use or communication of the contents thereof without express authority, are forbidden. Offenders are liable for the payment of damages. All rights are reserved in the event of the grant of a patent or the registration of a utility model or design (DIN 34-1). Validity The specified data is for product description purposes only and may not be deemed to be guaranteed unless expressly confirmed in the contract. All rights are reserved with respect to the content of this documentation and the availability of the product. Published by Rexroth Indramat GmbH Bgm.-Dr.-Nebel-Str. 2 D Lohr a. Main Telephone +49 (0)93 52/40-0 Tx Fax +49 (0)93 52/ Dept. BRC/ESM3 (ToMa) Dept. BRC/ESM6 (DiHa) Note This document has been printed on chlorine-free bleached paper.

3 TRANS200 Interface Description Contents I Contents 1 Power Logic TRANS Complete Diagnosis by TRANS No Diagnosis by TRANS Reduced Diagnosis by TRANS Diagnosis Messages Wiring the EMERGENCY STOP and Power Chains Travel range limit switch PLC Interface Signals Overview Process signals Axis signals Process signals System signals Monitoring Power activation Operating modes NC program control Mini control panel control NC program status Mini control panel status Axis signals Axis monitoring signals Axis control signals Axis status signals Multiplex Channels Definition of Terms Function of Multiplex Channels Definition of Multiplex Levels of the Read Channel Definition of Multiplex Levels of the Write Channel Error handling Multiplex Errors Additional Information in the Error Information V21 Function Blocks Description of DFB DFBs for the Schneider Electric TSX Premium DFBs for Allen Bradley RSLogix

4 II Contents TRANS200 Interface Description DFBs for the Rexroth Indramat ISP200-R-G V22 Function Blocks Introduction General Description of Mux-Write IOs Mux-Write Description of Mux-Read IOs Mux-Read Overview of Mux-Write Functions Mux-Write Operation: Using Stage 1 (Simple) Mux-Write Operation: Using Stage 2 (Extended) Configuration - Sequential Write Channels Configuration - Sequential Read Channels Checking the Channel Configuration Use/Application of Preconfigured Channels Applying a Write Channel Applying a Read Channel Mux-Read Error Codes Mux-Write Error Codes List of Figures Index Service & Support Helpdesk Service-Hotline Internet Vor der Kontaktaufnahme... - Before contacting us Kundenbetreuungsstellen - Sales & Service Facilities

5 TRANS200 Interface Description Power Logic TRANS Power Logic TRANS200 Various signals need to be tested in order to ensure the device can be operated safely. This involves, on the one hand, signals that guarantee a closed emergency stop chain and, on the other hand, all signals necessary for power. TRANS200 offers both the option to carry out a complete, detailed diagnosis independently and the option for the diagnosis to be taken over by the PLC. There is a further alternative, where the PLC and TRANS200 each carry out parts of the diagnostic work. 1.1 Complete Diagnosis by TRANS200 In order for TRANS200 to carry out a diagnosis, it must have access to all signals shown in Fig. 1-1 (see Chap 2 PLC Interface Signals). The results of the diagnosis are displayed in WinTRANS and can be called up via the multiplex channel by means of the PLC message number. Switching actions depending on the result of the diagnosis are locked by TRANS200 in accordance with Fig PLC TRANS200 Power Button OFF Power Button ON S PSERROR PCEXT24 PCESTAT PCEMACH PCESTP1 PCESTP2 PCESTP3 PCBBSUP AxCOTRVL PCTPSUP AxCMTAS & Q R >1 PSPOWEN PCPOWON PSPOWEN PCPOWON & Master contactor KxPOWOFF = & PSPOWON Switch-on contactor KxPOWON = Lamp Power ON = & & PSPOWER PCUDRDY PCPWRDY PCBBMSP & PowCirV1.FH7 Fig. 1-1: Power logic with complete diagnosis by TRANS200

6 1-2 Power Logic TRANS200 TRANS200 Interface Description 1.2 No Diagnosis by TRANS200 Note: In this case, the PLC must assume all diagnostic tasks. All signals must be processed by the PLC in accordance with Fig. 1-2 (see Chap. 2 PLC Interface Signals). Fig. 1-4 and Fig. 1-5 can be used to generate error messages. EXT24 ESTAT EMACH ESTP1 ESTP2 ESTP3 BBSUP OTRVL TPSUP MTASn Power Button OFF PLC & TRANS200 Power Button ON S PSERROR Q R >1 & PSERROR & PCPOWON & UDRDY PWRDY BBMSP Master contactor KxPOWOFF = & Switch-on contactor KxPOWON = & Lamp Power ON = & PSPOWER PowCirV3.FH7 Fig. 1-2: Power logic without diagnosis by TRANS200

7 TRANS200 Interface Description Power Logic TRANS Reduced Diagnosis by TRANS200 For this type of diagnosis, the power logic and the emergency stop chain are tested separately (cf. Fig. 1-3). TRANS200 is then given access to the results of both PLC diagnoses. TRANS200 permits a switching action only if both results are positive and no processing error has been reported by the NC. ESTAT EMACH ESTP1 ESTP2 ESTP3 EXT24 BBSUP OTRVL TPSUP MTASn PLC & & PCESTAT PCPOWEN TRANS200 PSERROR & Power Button OFF Power Button ON S PSPOWEN Q R >1 PSERROR & PCPOWON & UDRDY PWRDY BBMSP Master contactor KxPOWOFF = & Switch-on contactor KxPOWON = Lamp Power ON = & & PSPOWER PowCirV2 Fig. 1-3: Power logic with reduced diagnosis through TRANS200 PowCirV2.FH7

8 1-4 Power Logic TRANS200 TRANS200 Interface Description 1.4 Diagnosis Messages TRANS200 automatically generates the following diagnostic messages. Message number Message text Signal 1 External 24 volt supply absent PCEXT24 2 Input power disabled ** PCPOWEN 3 Station EMERGENCY STOP pushbutton is activated PCESTAT 4 EMERGENCY STOP condition at device PCEMACH 5 Guard 1 not closed PCESTP1 6 Guard 2 not closed PCESTP2 7 Guard 3 not closed PCESTP3 17 Safety limit switch for the {@0}-axis activated AxCOTRVL 9 Signal "BB1" on power supply unit absent PCBBSUP 13 Signal "Bb" at drive amplifier absent PCBBSMP 10 Over temperature at power supply unit PCTPSUP 14 DC bus voltage at drive package absent PCUDRDY 15 Main contactor has not closed PCPWRDY 16 Drive not ready PCPOWNON Fig. 1-4: Status messages for power and EMERGENCY STOP chain Message number Message text Input 353 External 24 volt supply failed PCEXT At least one condition for input power has been omitted PCPOWEN 355 Program interruption caused by emergency stop at station PCESTAT 356 Program interruption caused by emergency stop at device PCEMACH 357 Guard 1 opened in operation PCESTP1 358 Guard 2 opened in operation PCESTP2 359 Guard 3 opened in operation PCESTP3 351 Safety limit switch for the {@0}-axis tripped AxCOTRVL 361 Power supply unit signal "BB1" lost PCBBSUP 365 Signal "Bb" for drive amplifier lost PCBBSMP 362 Over temperature at power supply unit PCTPSUP 366 Dip in DC bus voltage PCUDRDY 367 Main contactor has dropped out PCPWRDY 368 Program interruption caused by power shutdown PCPOWON Fig. 1-5: Process error messages for power and EMERGENCY STOP chain Note: All processing errors must be acknowledged with PCCLEAR.

9 TRANS200 Interface Description Power Logic TRANS Wiring the EMERGENCY STOP and Power Chains 1.6 Travel range limit switch For the EMERGENCY STOP and power chain inputs, TRANS200 has established a firm priority sequence where PCEXT24 has the highest priority (see Fig. 1-4). The priority sequence is used by the internal power logic to determine the current status or error, react accordingly and issue a diagnosis. In order to guarantee the internal power logic works perfectly, care must be taken when wiring the emergency stop and power chain that leaving out an input does not at the same time have the effect of leaving out an input with higher priority. Example: If, by opening a guard, not only PCESTP2 would be switched to zero, but also PCEMACH, then instead of the diagnosis for the opened guard appearing, the diagnosis will appear that the machine is in emergency stop mode! The travel range limit can be monitored at three levels. The following arrangement is recommended: furthest inwards: software limit of the control unit (TRANS200) further outwards: software limit switches of the drives furthest outside: mechanical limit switch (NC contacts integrated in the EMERGENCY STOP and power chain (for the purposes of diagnosis brought together on one diagnostic input: AxCOTRVL)

10 1-6 Power Logic TRANS200 TRANS200 Interface Description

11 TRANS200 Interface Description PLC Interface Signals PLC Interface Signals 2.1 Overview Process signals All the IO signals for TRANS200 that can be received (configured) into the IO image via the IO configurator are described. Signals that are not configured are assigned sensible default values internally, which can in part be changed by the user. As a result, if wished, wiring via the PLC program can be omitted. There are two signal groups on TRANS200: 1. Process signals 2. Axis signals In addition, there are up to two multiplex channels available for each data route. Syntax Inputs: PCzzzz / BCzzzz Outputs: PSzzzz / BSzzzz P: Process B: BTx (IOs of a BTC or BTV mini control panel) C: Command (control signal from the PLC to TRANS200) S: Status (Status signal from TRANS200 to the PLC) zzzz: Short form of the signal Legends Identifier Pre-determined name for a signal Standard Contained in the standard IO configuration (model) Type Data type of signal BOOL: 1 bit BYTE 8 bits WORD 16 bits LONG 32 bits Comment Short description of signal (SW): Control over these signals can be withdrawn from the PLC (BTC06 Control Panel / WinTrans Control Panels). (OR): In addition to the PLC, these signals can also be set by others (BTC06 Control Panel / WinTrans Control Panels). Default Standard value of a signal that has not been configured

12 2-2 PLC Interface Signals TRANS200 Interface Description Process inputs (PLC => NC) Identifier Standard Type Comment Default Cycle inputs PCENABL x BOOL Process enable signal 1 PCADV x BOOL Start advance program (SW) 0 PCREV x BOOL Start reverse program (SW) 0 PCSTOP x BOOL Program stop (OR) 0 PCMODE0 BOOL Mode 2^0 (SW) 0 PCMODE1 x BOOL Mode 2^1 (SW) 0 PCJOGM0 BOOL Jog mode 2^0 (SW) 0 PCJOGM1 BOOL Jog mode 2^1 (SW) 0 PCJOGM2 BOOL Jog mode 2^2 (SW) 0 PCRAPID BOOL Rapid traverse speed (SW) 0 PCSINGL BOOL Single block program execution (SW) 0 PCCLEAR x BOOL Clear error (OR) 0 PCEVENT BOOL Jump on event input (Event 0) 0 System inputs PCKEYEN BOOL PC Key enable (WinTrans Control Panel) 1 PCBTXEN BOOL BTx enable (mini control panel) 1 Power and E-Stop Inputs PCEXT24 x BOOL External 24 V DC supply present 1 PCPOWEN BOOL Power enable (for power chain variant 2) 1 PCESTAT x BOOL Station emergency stop 1 PCEMACH x BOOL Machine emergency stop 1 PCESTP1 x BOOL E-Stop condition 1 1 PCESTP2 BOOL E-Stop condition 2 1 PCESTP3 BOOL E-Stop condition 3 1 PCBBSUP x BOOL Power supply unit ready for operation 1 PCBBMSP BOOL Main drive ready for operation 1 PCTPSUP BOOL Power supply unit temperature monitoring 1 PCUDRDY x BOOL DC bus voltage available 1 PCPWRDY x BOOL Main contactor closed 1 PCPOWON x BOOL Power request 0 Conditional Inputs PCCOND0 x BOOL Decoded to Event 1 to 31 0 PCCOND1 x BOOL Decoded to Event 1 to 31 0 PCCOND2 x BOOL Decoded to Event 1 to 31 0 PCCOND3 BOOL Decoded to Event 1 to 31 0 PCCOND4 BOOL Decoded to Event 1 to 31 0 Acknowledgements PCACKN400 BOOL Acknowledgment for PSAUX400 0 PCACKN401 BOOL Acknowledgment for PSAUX401 0 PCACKN402 BOOL Acknowledgment for PSAUX402 0 PCACKN403 BOOL Acknowledgment for PSAUX403 0 PCACKN404 BOOL Acknowledgment for PSAUX404 0 PCACKN405 BOOL Acknowledgment for PSAUX405 0 PCACKN406 BOOL Acknowledgment for PSAUX406 0 PCACKN407 BOOL Acknowledgment for PSAUX407 0 PCACKN408 BOOL Acknowledgment for PSAUX408 0

13 TRANS200 Interface Description PLC Interface Signals 2-3 Acknowledgements PCACKN409 BOOL Acknowledgment for PSAUX409 0 PCACKN410 BOOL Acknowledgment for PSAUX410 0 PCACKN411 BOOL Acknowledgment for PSAUX411 0 PCACKN412 BOOL Acknowledgment for PSAUX412 0 PCACKN413 BOOL Acknowledgment for PSAUX413 0 PCACKN414 BOOL Acknowledgment for PSAUX414 0 PCACKN415 BOOL Acknowledgment for PSAUX415 0 PCACKN416 BOOL Acknowledgment for PSAUX416 0 PCACKN417 BOOL Acknowledgment for PSAUX417 0 PCACKN418 BOOL Acknowledgment for PSAUX418 0 PCACKN419 BOOL Acknowledgment for PSAUX419 0 PCACKN420 BOOL Acknowledgment for PSAUX420 0 PCACKN421 BOOL Acknowledgment for PSAUX421 0 PCACKN422 BOOL Acknowledgment for PSAUX422 0 PCACKN423 BOOL Acknowledgment for PSAUX423 0 PCACKN424 BOOL Acknowledgment for PSAUX424 0 PCACKN425 BOOL Acknowledgment for PSAUX425 0 PCACKN426 BOOL Acknowledgment for PSAUX426 0 PCACKN427 BOOL Acknowledgment for PSAUX427 0 PCACKN428 BOOL Acknowledgment for PSAUX428 0 PCACKN429 BOOL Acknowledgment for PSAUX429 0 PCACKN430 BOOL Acknowledgment for PSAUX430 0 PCACKN431 BOOL Acknowledgment for PSAUX431 0 BTx inputs BCDAT00 BOOL BTx Input Signal 00 0 BCDAT01 BOOL BTx Input Signal 01 0 BCDAT02 BOOL BTx Input Signal 02 0 BCDAT03 BOOL BTx Input Signal 03 0 BCDAT04 BOOL BTx Input Signal 04 0 BCDAT05 BOOL BTx Input Signal 05 0 BCDAT06 BOOL BTx Input Signal 06 0 BCDAT07 BOOL BTx Input Signal 07 0 BCDAT08 BOOL BTx Input Signal 08 0 BCDAT09 BOOL BTx Input Signal 09 0 BCDAT10 BOOL BTx Input Signal 10 0 BCDAT11 BOOL BTx Input Signal 11 0 BCDAT12 BOOL BTx Input Signal 12 0 BCDAT13 BOOL BTx Input Signal 13 0 BCDAT14 BOOL BTx Input Signal 14 0 BCDAT15 BOOL BTx Input Signal 15 0 BCDAT16 BOOL BTx Input Signal 16 0 BCDAT17 BOOL BTx Input Signal 17 0 BCDAT18 BOOL BTx Input Signal 18 0 BCDAT19 BOOL BTx Input Signal 19 0 BCDAT20 BOOL BTx Input Signal 20 0 BCDAT21 BOOL BTx Input Signal 21 0 BCDAT22 BOOL BTx Input Signal 22 0 BCDAT23 BOOL BTx Input Signal 23 0 BCDAT24 BOOL BTx Input Signal 24 0 BCDAT25 BOOL BTx Input Signal 25 0

14 2-4 PLC Interface Signals TRANS200 Interface Description BTx inputs BCDAT26 BOOL BTx Input Signal 26 0 BCDAT27 BOOL BTx Input Signal 27 0 BCDAT28 BOOL BTx Input Signal 28 0 BCDAT29 BOOL BTx Input Signal 29 0 BCDAT30 BOOL BTx Input Signal 30 0 BCDAT31 BOOL BTx Input Signal 31 0 BCDATL1 BOOL BTx Input Signal for L1 0 BCDATR1 BOOL BTx Input Signal for R1 0 Fig. 2-1: Process control signals (PLC => NC) Process - Outputs (NC => PLC) Identifier Standard Type Comment Cycle outputs PSERROR x BOOL Error PSACTIV x BOOL Program active PSREADY x BOOL Ready to start PSRUN x BOOL NC Block active PSREV x BOOL Reverse program active PSSTOP x BOOL Program stopped PSTHMIS BOOL Thrust missing (NC function adaptive feed control) PSEXTH BOOL Excessive thrust (NC function adaptive feed control) Power Outputs PSPOWEN x BOOL NC power disabled PSPOWON x BOOL NC power enabled PSPOWER x BOOL NC power is on PSPOWIN x BOOL Control voltage interruption System outputs PSLIFE X BOOL Connection established PSFORCE X BOOL As least one IO signal is forced PSKEYSW BOOL WinTrans Control Panel active PSBTXCON BOOL BTx Connection established PSBTXSW BOOL BTx Control Panel active Auxiliary Outputs PSAUX400 BOOL Auxiliary output 400 PSAUX401 BOOL Auxiliary output 401 PSAUX402 BOOL Auxiliary output 402 PSAUX403 BOOL Auxiliary output 403 PSAUX404 BOOL Auxiliary output 404 PSAUX405 BOOL Auxiliary output 405 PSAUX406 BOOL Auxiliary output 406 PSAUX407 BOOL Auxiliary output 407 PSAUX408 BOOL Auxiliary output 408 PSAUX409 BOOL Auxiliary output 409 PSAUX410 BOOL Auxiliary output 410 PSAUX411 BOOL Auxiliary output 411 PSAUX412 BOOL Auxiliary output 412 PSAUX413 BOOL Auxiliary output 413 PSAUX414 BOOL Auxiliary output 414

15 TRANS200 Interface Description PLC Interface Signals 2-5 Auxiliary Outputs PSAUX415 BOOL Auxiliary output 415 PSAUX416 BOOL Auxiliary output 416 PSAUX417 BOOL Auxiliary output 417 PSAUX418 BOOL Auxiliary output 418 PSAUX419 BOOL Auxiliary output 419 PSAUX420 BOOL Auxiliary output 420 PSAUX421 BOOL Auxiliary output 421 PSAUX422 BOOL Auxiliary output 422 PSAUX423 BOOL Auxiliary output 423 PSAUX424 BOOL Auxiliary output 424 PSAUX425 BOOL Auxiliary output 425 PSAUX426 BOOL Auxiliary output 426 PSAUX427 BOOL Auxiliary output 427 PSAUX428 BOOL Auxiliary output 428 PSAUX429 BOOL Auxiliary output 429 PSAUX430 BOOL Auxiliary output 430 PSAUX431 BOOL Auxiliary output 431 BTx outputs BSDAT00 BOOL State of BTx Output Signal 00 BSDAT01 BOOL State of BTx Output Signal 01 BSDAT02 BOOL State of BTx Output Signal 02 BSDAT03 BOOL State of BTx Output Signal 03 BSDAT04 BOOL State of BTx Output Signal 04 BSDAT05 BOOL State of BTx Output Signal 05 BSDAT06 BOOL State of BTx Output Signal 06 BSDAT07 BOOL State of BTx Output Signal 07 BSDAT08 BOOL State of BTx Output Signal 08 BSDAT09 BOOL State of BTx Output Signal 09 BSDAT10 BOOL State of BTx Output Signal 10 BSDAT11 BOOL State of BTx Output Signal 11 BSDAT12 BOOL State of BTx Output Signal 12 BSDAT13 BOOL State of BTx Output Signal 13 BSDAT14 BOOL State of BTx Output Signal 14 BSDAT15 BOOL State of BTx Output Signal 15 BSDAT16 BOOL State of BTx Output Signal 16 BSDAT17 BOOL State of BTx Output Signal 17 BSDAT18 BOOL State of BTx Output Signal 18 BSDAT19 BOOL State of BTx Output Signal 19 BSDAT20 BOOL State of BTx Output Signal 20 BSDAT21 BOOL State of BTx Output Signal 21 BSDAT22 BOOL State of BTx Output Signal 22 BSDAT23 BOOL State of BTx Output Signal 23 BSDAT24 BOOL State of BTx Output Signal 24 BSDAT25 BOOL State of BTx Output Signal 25 BSDAT26 BOOL State of BTx Output Signal 26 BSDAT27 BOOL State of BTx Output Signal 27 BSDAT28 BOOL State of BTx Output Signal 28 BSDAT29 BOOL State of BTx Output Signal 29 BSDAT30 BOOL State of BTx Output Signal 30

16 2-6 PLC Interface Signals TRANS200 Interface Description BTx outputs BSDAT31 BOOL State of BTx Output Signal 31 BSDATL1 BOOL State of BTx L1 Key BSDATR1 BOOL State of BTx R1 Key BSAPPR BOOL State of BTC Approve Key (BTC06 only) BSPANIC BOOL State of BTC Panic Key (BTC06 only) Axis signals Fig. 2-2: Process status signals (NC => PLC) Syntax Inputs: AxCzzzz Outputs: AxSzzzz A: Axis x: Axis number (Sercos address, 1, 2,..., 6, 7) C: Command (control signal from the PLC to TRANS200) S: Status (Status signal from TRANS200 to the PLC) zzzz: Short form of the signal Axis Inputs (PLC => NC) Identifier Standard Type Comment Default Axis (and Spindle) Inputs AxCREADY BOOL Ready for operation 0 AxCJGPOS x BOOL Positive jogging (SW) 0 AxCJGNEG x BOOL Negative jogging (SW) 0 AxCHOME BOOL Homing axis (SW) 0 AxCENABL BOOL Enabling axis 1 AxCQDDS BOOL Real time control bit to the DDS 0 AxCMHOLD BOOL Motion inhibited 0 AxCOTRVL BOOL Axis over travel limit switch 1 Spindle Inputs AxCM3 BOOL Start clockwise spindle rotation (SW) 0 AxCM4 BOOL Spindle counter-clockwise spindle rotation (SW) 0 AxCM5 BOOL Spindle stop (SW) 0 AxCM19 BOOL Spindle positioning (SW) 0 AxCSPHLT BOOL Spindle stop at stopped program 0 AxCSPSTP BOOL Spindle stop upon program stop 0 AxCSPSTE BOOL Spindle stop at program end 0 AxCSPRST BOOL No spindle stop upon control reset 1 AxCRAPID BOOL Rapid transverse signal (spindle only) 0 Fig. 2-3: Axis inputs (PLC => NC)

17 TRANS200 Interface Description PLC Interface Signals 2-7 Axis X - Outputs (NC => PLC) Identifier Standard Type Comment Axis (and Spindle) Outputs AxSRF BOOL Drive enable signal AxSHOMED BOOL Axis has reference AxSBBDIG BOOL Digital drives ready for operation AxSIDDS BOOL Real-time status bit from DDS AxSMCPOS x BOOL Positive movement announcement AxSMCNEG X BOOL Negative movement announcement AxSPOSWN BOOL in position windows Spindle Outputs AxSLD90 BOOL Spindle 90% load (spindles only) AxSN_CMD BOOL Spindle N actual = N command (spindles only) AxSN_MIN BOOL Spindle N actual = 0 (spindles only) AxSMD_DX BOOL M d >= M dx (spindles only) AxSN_MAX BOOL N command >= N limit (spindles only) AxSINPOS BOOL in position (spindles only) AxSP_PX BOOL P >= Px (spindles only) Waypoints AxSWP0 x BOOL Waypoint 0 AxSWP1 x BOOL Waypoint 1 AxSWP2 BOOL Waypoint 2 AxSWP3 BOOL Waypoint 3 AxSWP4 BOOL Waypoint 4 AxSWP5 BOOL Waypoint 5 AxSWP6 BOOL Waypoint 6 AxSWP7 BOOL Waypoint 7 Fig. 2-4: Axis X - Outputs (NC => PLC) 2.2 Process signals The TRANS200 process signals can be divided into the following subgroups: System signals Monitoring Power activation Operating modes NC program control NC program status Mini control panel control Mini control panel status

18 2-8 PLC Interface Signals TRANS200 Interface Description System signals PCKEYEN = Process Command PC Key Enable Control signals PLC NC PCKEYEN = 0: No enabling signal to change to PC key PCKEYEN = 1: Enabling signal to change to PC key The PLC can enable or block a change to the PC key channel using the PCKEYEN signal. If the PC key channel is already active (PSKEYSW = 1), the PLC can also deactivate it retrospectively by canceling the enabling signal (PCKEYEN = 0). Note: The PC key channel is used by the WinTrans user interface for machine operation (F7: Movement functions). Note: Only one operation channel at a time can be activated (PC key channel or BTC channel). An attempt to activate a second channel will be refused. PCBTXEN = Process Command BTC Enable Control signals PLC NC PCBTXEN = 0: No enabling signal to change to BTC PCBTXEN = 1: Enabling signal to change to BTC The PLC can enable or block a change to the BTC control panel integrated in the TRANS200 using the PCBTXEN signal. If the BTC control panel is already active (PSBTXSW = 1), the PLC can also deactivate it retrospectively by canceling the enabling signal (PCBTXEN = 0). Note: Only one operation channel at a time can be activated (PC key channel or BTC channel). An attempt to activate a second channel will be refused. IO connection NC -> PLC active 'PSLIFE' PSLIFE = Process Status NC IO Life Status signal NC PLC PSLIFE = 0: NC -> PLC connection inactive PSLIFE = 1: NC -> PLC connection active This signal is statically set to "1" by TRANS200. The PLC uses it to detect whether the IO channel from the NC to the PLC is active or inactive. The signal can be used as a condition for the enable inputs of the multiplex IO function blocks.

19 TRANS200 Interface Description PLC Interface Signals 2-9 Signal is forced 'PSFORCE' PSFORCE = Process Status Force is active Status signal NC PLC PSFORCE = 0: All IO points are in their original signal status PSFORCE = 1: At least one IO point is forced Using this signal the NC reports that a firm value has been assigned to at least one user signal. By this means the PLC can determine that it does not have full control over the NC. A user message can be connected with this bit, for instance, or a particularly critical process can be stopped. PC Key Channel Active 'PSKEYSW' PSKEYSW = Process Status PC Key Switched Status signal NC PLC PSKEYSW = 0: TRANS200 under the control of the PLC PSKEYSW = 1: TRANS200 not fully controlled by PLC The signal is effective in all modes. The 'PCKEY channel active' signal indicates that the PLC no longer has control over the cycle interface. No further machine movement can be canceled by means of the PLC. Signals affected by the changeover are identified in the signal overview by (SW: Switch). As soon as a changeover request has been accepted (usually by means of an MT-CNC user interface) the 'PCKEY channel active' signal is set. The 'PCKEY channel active' signal is reset as soon as: a reset request has been accepted (usually via the user interface), the "PCKEYEN" signal has been set to 0 by the PLC. Providing the PC key channel is active, the machine movements can be controlled by means of the user interface. BTx Connected 'PSBTXCON' PSBTXCON = Process Status BTx Connected Status signal NC PLC PSBTXCON = 0: No BTx mini control panel detected PSBTXCON = 1: BTx mini control panel detected The signal is effective in all modes. The signal 'BTx Connected' indicates that a mini control panel of type BTC or BTV has been detected by the TRANS200 and that the cyclic communication is running. The signal 'BTx Connected' is set as soon as a mini control panel is connected and the interface of the TRANS200 has been configured accordingly.

20 2-10 PLC Interface Signals TRANS200 Interface Description The signal 'BTx Connected' is reset as soon as: the interface is deactivated the connection to the mini control panel is interrupted. As long as the mini control panel is connected with the TRANS200, the status of the TRANS200 can be displayed using the mini control panel and diverse data of the TRANS200 can be edited. The signals to and from the mini control panel are available to the PLC. BTC Control Panel active 'PSBTXSW' PSBTXSW = Process Status BTC Control Panel Switched Status signal NC PLC PSBTXSW = 0: TRANS200 under the control of the PLC PSBTXSW = 1: TRANS200 not fully controlled by PLC The signal is effective in all modes. The 'BTC Control Panel active' signal indicates that the PLC no longer has control over the cycle interface. No further machine movement can be canceled by means of the PLC. Signals affected by the changeover are identified in the signal overview by 'SW' (Switch). The signal 'BTC Control Panel active' is set as soon as a changeover request bas been accepted by the BTC. The signal 'BTC Control Panel active' is reset as soon as: a reset request has been accepted by the BTC the "PCBTXEN" signal has been set to 0 by the PLC. As long as the BTC control panel is active, the machine movements can be controlled using the BTC control panel. In this case, however, the signals to the mini control panel (BSDATnn) are under the control of the TRANS200; they cannot be influenced by the PLC. The signals from the mini control panel (BSDATnn) continue to be updated. Monitoring External 24 volt power supply 'PCEXT24' PCEXT24 = Process Command External 24 V Supply Control signal: PLC NC PCEXT24 = 0: External 24 V power supply not present PCEXT24 = 1: External 24 V power supply OK The PLC employs this signal to indicate to the NC whether or not the power supply to the inputs and outputs of the station exists. For this purpose, the station's 24 V power supply is made available as an input signal and passed on to the NC within the PLC program. If several 24 V power supplies exist in a station, one input signal must be provided for each of them. All inputs are ANDed and the result is reported to the NC. If no input signal is available for the external 24 V DC power supply, the PLC program must assign a logic '1' to the control signal.

21 TRANS200 Interface Description PLC Interface Signals 2-11 Power Enable 'PCPOWEN' PCPOWEN = Process Command Power Enable Control signal: PLC NC PCPOWEN = 0: Power enablement blocked by the PLC PCPOWEN = 1: Power enablement released by the PLC The PLC uses this signal to indicate to the NC that the power may be switched on. This signal is provided in the event that the PLC itself assumes the evaluation of conditions for the power logic, including diagnosis (cf. "Power logic Version 2"). The PLC then just passes on to the NC the information "Drives are ready for input power" in order to guarantee that the NC carries out the minimum diagnosis. If the PLC does not assume the evaluation of the conditions for inputting power, or if this diagnostic option is to be omitted, the PLC program must assign a logic '1' to the control signal. EMERGENCY STOP station 'PCESTAT' PCESTAT = Process Command Emergency Station Control signal PLC NC PCESTAT = 0: EMERGENCY STOP loop opened by pushbutton on the station PCESTAT = 1: EMERGENCY STOP loop closed by pushbutton on the station This signal tells the NC whether or not the station EMERGENCY STOP chain has been opened by pressing the EMERGENCY STOP pushbutton. If several EMERGENCY STOP pushbuttons exist in a station and can be used for interrupting the EMERGENCY STOP loop, the status of the last pushbutton in the loop must be reported. If no input signal is available for 'EMERGENCY STOP at station', this control signal must be set statically to '1'. EMERGENCY STOP device 'PCEMACH' PCEMACH = Process Command Emergency Machine Control signal PLC NC PCEMACH = 0: EMERGENCY STOP loop opened by EMERGENCY STOP device in the system PCEMACH = 1: EMERGENCY STOP loop closed by EMERGENCY STOP device in the system Special safety devices (e.g. pull-wires) permit the power to be shut down simultaneously throughout the machine. In the EMERGENCY STOP loop of each station there has to be a contact connected downstream from the station's the EMERGENCY STOP pushbutton. This contact's signal line must be fed via the PLC directly to the 'PCEMACH' control signal.

22 2-12 PLC Interface Signals TRANS200 Interface Description If no input signal is available for 'EMERGENCY STOP device', this control signal must be set statically to '1'. Guards 'PCESTPn' PCESTP = Process Command Emergency Stop 3 control signals PLC NC PCESTP1 = 0: Guard 1 open PCESTP1 = 1: Guard 1 closed PCESTP2 = 0: Guard 2 open PCESTP2 = 1: Guard 2 closed PCESTP3 = 0: Guard 3 open PCESTP3 = 1: Guard 3 closed The CNC monitoring function permits three additional contacts to be used in addition to pushbuttons for interrupting the station's EMERGENCY STOP loop. The guard function can be triggered by protective screens, light barriers, or proximity switches, for example. To be able to produce a correct diagnosis, the signal lines must be connected to the NC control signals in the correct sequence. IMPORTANT Opening a guard should only shut down the power of the station in question. If an open guard interrupts the EMERGENCY STOP loop of the entire system this will always result in a wrong diagnosis. If none or not all of the guards at a station are used, these control signals must be set statically to 1. Power supply unit ready 'PCBBSUP' PCBBSUP = Process Command BB Supply Control signal PLC NC PCBBSUP = 0: Power supply unit is not ready PCBBSUP = 1: Power supply unit is ready This signal is used to tell the NC that the 'power supply unit' of the station is ready for operation. Power can only be activated when the power supply unit is ready. The 'BB1 contact' of the power supply unit must be used for this function. If no input signal is available for power supply unit that is ready for operation, this control signal must be set statically to '1'.

23 TRANS200 Interface Description PLC Interface Signals 2-13 Power supply unit temperature monitoring 'PCTPSUP' PCTPSUP = Process Command Temperature Control Supply Control signal PLC NC PCTPSUP = 0: Temperature on power supply unit too high PCTPSUP = 1: Temperature on power supply unit is normal This control signal reports an excessively high power supply unit temperature to the NC. Excessively high temperature at the power supply unit leads to a power shutdown. Power can only be switched back on after the power supply unit has cooled down. If no input signal is available for the 'Overtemperature on power supply unit', this control signal must be set statically to '1'. Main contactor is closed 'PCPWRDY' PCPWRDY = Process Command Power Ready Control signal PLC NC PCPWRDY = 0: Main contactor has not closed PCPWRDY = 1: Main contactor has closed This signal reports to the NC whether or not the main contactor has closed after the NC has issued the power activation command. This requires an auxiliary contact of the main contactor to be connected via an input signal. If no input signal is available for main contactor has closed, this control signal must be set statically to '1'. DC bus voltage available 'PCUDRDY' PCUDRDY = Process Command PUD Ready Control signal PLC NC PCUDRDY = 0: DC bus voltage not available PCUDRDY = 1: DC bus voltage available After power has been switched on, this signal tells the NC whether or not the DC bus voltage has been built up. This requires the 'UD contact' of the power supply unit or the 'BB2 contact' of the drive amplifier to be reported to this control signal. If no input signal is available for the DC bus voltage, this control signal must be set statically to '1'.

24 2-14 PLC Interface Signals TRANS200 Interface Description Main spindle ready for operation 'PCBBMSP' PCBBMSP = Process Command BB Main Spindle Control signal PLC NC PCBBMSP = 0: Main spindle is not ready PCBBSUP = 1: Main spindle is ready This control signal is used to tell the NC whether or not the 'main spindle' is ready for operation. If the station does not possess a main spindle, the signal must be statically set to '1' within the PLC program. This signal must be simulated if axis movements are to be permitted in certain modes without the main spindle being ready for operation (e.g. test mode without spindle or retracting the axes in jog mode). If no input signal is available for the main drive that is ready for operation, this control signal must be set statically to '1'. Power activation Power enabled 'PSPOWEN' PSPOWEN = Process Status Power Enable Status signal NC PLC PSPOWEN = 0: No power enabling signal from the NC PSPOWEN = 1: Power enabling signal from the NC The signal is valid in all modes. The NC employs this signal to tell the PLC that all conditions for power activation have been fulfilled for this station. The 'power enabled' signal is only issued if the following conditions are fulfilled: There is no NC error pending for the process to prevent power from being switched on (PSERROR=0) The 24 V supply for the process is OK (PCEXT24=1) The station EMERGENCY STOP button has not been pressed (PCESTAT=1) There is no EMERGENCY STOP condition for the system (PCEMACH=1) None of the three possible guards is open (PCESTP1=1, PCESTP2=1, PCESTP3=1) No limit switch for this process has been actuated (all AxCOTRVL=1, x = axis number) The power supply unit is ready for operation (PCBBSUP=1) There is no excessively high temperature at the power supply unit (PCTPSUP=1) The 'power enabled' signal is not output if one of the above-mentioned conditions is not satisfied. The NC station diagnosis will then display the first missing condition.

25 TRANS200 Interface Description PLC Interface Signals 2-15 Power request 'PCPOWON' PCPOWON = Process Command Power on Control signal PLC NC PCPOWON = 0: No power request PCPOWON = 1: Power request via PLC The PLC employs this control signal for requesting the NC to activate the power for the station. The power request will be ignored as long as the NC does not issue the 'power enabled' (PSPOWEN) status signal. Otherwise, the NC issues the 'power on' (PSPOWON) signal to acknowledge the 'power request'. The power request signal can be activated by pressing the relevant button at the station. In automatic mode, the power request signal may be supplied by central power activation at the plant's main control panel. If power activation is to depend on additional external conditions, those conditions must logically be linked with the power request. Power ON 'PSPOWON' PSPOWON = Process Status Power on is Enable Status signal NC PLC PSPOWON = 0: Power remains switched off PSPOWON = 1: Power is switched on The NC employs this signal to request the PLC to close the last contact in the otherwise closed EMERGENCY STOP loop of the station. This signal must always be connected directly and without any further interconnections to the output that activates the power to the station. Power is ON 'PSPOWER' PSPOWER = Process Status Power is on Status signal NC PLC PSPOWER = 0: Power has not yet been switched on PSPOWER = 1: Power is on The NC employs this signal to report that all signals are present that must be reported after power activation. If, in addition, all the general enabling signals exist, the NC will be able to execute programs for the station in question or the axes may be moved manually. The 'Power is ON' signal is only issued if the following conditions exist: The NC reports 'power ON' to the PLC (PSPOWON=1) The main contactor is closed (PCPWRDY=1) The DC bus voltage is available (PCUDRDY=1) The main spindle is operational (PCBBMSP=1) and Power enabled is OK (PSPOWEN=1) The 'Power is ON' signal is not issued if one of the above conditions is not satisfied. In this case, the NC station diagnosis shows the first missing condition in the list.

26 2-16 PLC Interface Signals TRANS200 Interface Description Operating modes Within the controller, the NC functions execute under different modes. A distinction is drawn between the following modes: Automatic mode Semi-automatic mode Setup mode Various process or axis signals are active in certain operating modes only, or change their method of operation as the mode changes. This is true, for example, for the signals 'start advance program' (PCADV) and 'start reverse program' (PCREV), or for the signals 'positive jogging' (AxCJGPOS) and 'negative jogging' (AxCJGNEG). If a signal depends on the mode, attention will be drawn to this in the description. Mode selection 'PCMODEn' PCMODEn = Process Command Mode Bit n 2 control signals PLC NC PCMODE0 PCMODE1 The two mode selection inputs permit the following modes to be distinguished: Automatic mode Semi-automatic mode Setup mode Interpretation of the control signals between the PLC and NC depends on the selected mode. Changing modes during program execution leads to an immediate stop of the currently executing NC program. Operating modes PCMODE0 PCMODE1 Automatic mode 0 0 Setup mode 0 1 Semi-automatic mode 1 0 Not used 1 1 Fig. 2-5: Encoding for modes of operation

27 TRANS200 Interface Description PLC Interface Signals 2-17 Automatic' mode 'Automatic mode' permits only NC programs to be executed. Moving axes by jog commands is not possible. Advance program:?: The NC advance program is started by a 'start advance program' (PCADV) The 'Program active' (PSACTIV) signal indicates the NC advance program is being executed. The 'Reverse program active' (PSREV) signal remains cleared while an advance program is being executed. The 'ready to start' (PSREADY) signal is canceled when the advance program starts to be executed. A: In 'automatic mode', one impulse is sufficient for starting the NC advance program. The start signal may be cleared once the NC program has started to be executed. The NC program will be completed even if the advance program start signal is no longer applied. BThe 'Program active' (PSACTIV) signal is cleared when the NC advance program is completed. At the same time, the subsequent NC advance program will have the 'ready to start' (PSREADY) signal assigned. Reverse program:?: The NC reverse program is started by a 'start reverse program' (PCADV) 'program active' (PSACTIV) and 'reverse program active' (PSREV) signals indicate the NC reverse program is being executed. The 'ready to start' (PSREADY) signal is canceled at the same time. A: In 'Automatic' mode, one impulse is sufficient for starting the NC reverse program. The start signal may be cleared once the NC program has started to be executed. The NC program will be completed even if the reverse program start signal is no longer applied. BThe 'program active' (PSACTIV) and 'reverse program active' (PSREV) signals are cleared when the NC reverse program is completed. An NC advance program will have the 'ready to start' (PSREADY) signal assigned if reference exists for all the axes after the reverse program has been executed. 'Semi-automatic' mode' 'Semi-automatic' mode permits only NC programs to be executed. Moving axes by jog commands is not possible. Advance program:?: The NC advance program is started by a 'start advance program' (PCADV) The 'Program active' (PSACTIV) signal indicates the NC advance program is being executed. The 'Reverse program active' (PSREV) signal remains cleared while an advance program is being executed. The 'ready to start' (PSREADY) signal is canceled when the advance program starts to be executed. A: In 'semi-automatic' mode, the NC advance program is executed as long as the advance program start signal is applied. BThe axes and NC program will be stopped immediately if the start advance signal is removed while the NC advance program is being executed. The interruption is indicated by the 'program stopped' (PSSTOP) signal.

28 2-18 PLC Interface Signals TRANS200 Interface Description ga new start advance program signal permits the NC advance program to be resumed from the point of interruption. h: Restarting the advance program clears the 'program stopped' (PSSTOP) signal. ithe 'program active' signal is cleared when the NC advance program is completed. At the same time, the 'ready to start' signal will be assigned for a new advance program. j: The start signal may be cleared when the advance program is completed. Reverse program: c: The NC reverse program is started by a 'start reverse program' (PCADV) signal. dthe 'program active (PSACTIV) and 'reverse program active' (PSREV) signals indicate the NC reverse program is being executed. The 'ready to start' signal (PSREADY) is canceled at the same time. e: In 'semi-automatic' mode, the NC reverse program is executed as long as the reverse program start signal is applied. fthe axes and NC program will be stopped immediately if the start reverse program signal is removed while the NC reverse program is being executed. The interruption is indicated by the 'program stopped' (PSSTOP) signal. ga new start reverse program signal permits the NC reverse program to be resumed from the point of interruption. h: Restarting the reverse program clears the 'program stopped' (PSSTOP) signal. i: The 'program active' signal is cleared when the NC reverse program is completed. At the same time, the 'ready to start' signal will be assigned for an advance program start. j: The start signal may be cleared when the reverse program is completed. 'Setup' mode' 'Setup' mode permits NC programs to be executed and axes to be moved by jog commands. NC program operation is the same as in 'semi-automatic' mode. The same applies for the execution of NC programs as in 'semiautomatic' mode. Jog mode 'PCJOGMn' PCJOGMn = Process Command Jogging Mode Bit n 3 control signals PLC NC PCJOGM0 PCJOGM1 PCJOGM2 'Automatic' mode 'Semi-automatic' mode 'Jogging' is not possible in these two modes. The NC does not interpret the jog signals.

29 TRANS200 Interface Description PLC Interface Signals 2-19 'Setup' mode 'Jog mode' defines the type of jog movement. A distinction is made between moving over a fixed distance and continuous jogging. With continuous jogging, the axis is moved as long as the jog command is applied. Jogging a fixed distance means that the axis movement is initiated with the positive edge of the jog command and continued until the full distance has been covered. The jog command is no longer required during the movement. Changing the jog mode while an axis is being jogged interrupts the movement of the axis. The following jog resolutions are available. They depend on the number of 'programmable decimal places for the distance' entered in the process parameters. PCJOGM2 PCJOGM1 PCJOGM0 Jog resolution Continuous jogging Jogging 1 AE ^= mm Jogging 10 AE ^= mm Jogging 100 AE ^= 0.01 mm Jogging 1000 AE ^= 0.1 mm Jogging AE ^= 1 mm Jogging AE ^= 10 mm Jog distance from parameter Fig. 2-6: 'Programmable decimal places for the distance: 4'

30 2-20 PLC Interface Signals TRANS200 Interface Description PCJOGM2 PCJOGM1 PCJOGM0 Jog resolution Continuous jogging Jogging 1 AE ^= mm Jogging 10 AE ^= mm Jogging 100 AE ^= mm Jogging 1000 AE ^= 0.01 mm Jogging AE ^= 0.1 mm Jogging AE ^= 1 mm Jog distance from parameter Fig. 2-7: 'Programmable decimal places for the distance: 5' Note: When jog distance is active, the 'jog spindle position' axis parameter is drawn on to jog the spindle. Positive jogging means that the positive position is approached absolutely. Negative jogging means that the negative position is approached. Single step mode 'PCSINGL' PCSINGL = Process Command Single Stop Control signal PLC NC PCSINGL = 0: Cycle mode PCSINGL = 1: Single step mode When the 'single step mode' signal is set, a stop is performed once a block has been processed. If the signal is set during program execution, an immediate stop is initiated when the next block is active. Otherwise, the execution of the current block is completed and the stop occurs at the end of the block. The 'stop' status signal is not set. The NC clears the 'Block active' process status signal between the execution of two blocks. The next block in the advance program is initiated with the 'start advance program' signal. The next block in the reverse program is initiated with the 'start reverse program' signal. Note: An immediate stop is initiated when the next block is active (optimum block transition). Otherwise, the current block is completed, and the stop occurs at the end of the block.

31 TRANS200 Interface Description PLC Interface Signals 2-21 Rapid traverse 'PCRAPID' PCRAPID = Process Command Rapid Control signal PLC NC PCRAPID = 0: No rapid speed during jogging PCRAPID = 1: Rapid speed during jogging 'Automatic' mode 'Semi-automatic' mode The 'rapid traverse' signal is not interpreted in these modes. 'Setup' mode When the 'rapid traverse' signal is set, the rapid traverse velocity that has been programmed in the axis parameters is used for manual axis movements (jogging). The rapid traverse signal is valid for all axes. The axes are moved at the rapid traverse rate as long as the rapid traverse signal is applied. Moving an axis at rapid traverse rate requires the measurement reference of that axis to be established. The measurement reference of that axis must first be established by single-axis homing or by program-controlled homing. NC program control Process enabling signal 'PCENABL' PCENABL = Process Command Enable Control signal PLC NC PCENABL = 0: No process enabling signal available PCENABL = 1: Process enabling signal available The process enable signal has an effect in all modes. The 'process enable' signal is required for moving an axis or for executing an NC program. Power remains ON when the process enabling signal is removed. An immediate stop is initiated for the process if the process enabling signal is removed while an NC program is running. Axis movements are decelerated along a ramp curve, and program execution is interrupted. The NC program can only be restarted after the process enabling signal has been applied. The 'start advance program' signal (PCADV) can be used for restarting an interrupted advance program. The 'start reverse program' signal (PCREV) can be used for restarting an interrupted reverse program. If the process enabling signal is removed during a jog movement (singleaxis homing, jogging), the jog process is interrupted and axis movement is decelerated along a ramp. Jog movements can only be continued after the process enabling signal has been re-applied.

32 2-22 PLC Interface Signals TRANS200 Interface Description Advance program start 'PCADV' PCADV = Process Command Advance Program Start Control signal PLC NC PCADV= 0: No advance program start PCADV= 1: Advance program start This control signal has different meanings in the different modes. Requirements for the start of the advance program: Power present No error Process enabling signal issued No reverse program active, and Ready to start 'Automatic' mode A positive edge of the 'Start of advance program' (PCADV) signal starts the advance program when the ready to start signal (PSREADY=1) has been issued. The 'start of advance program' signal can be removed when the advance program is processed. The restart of an interrupted advance program from the currently active block number is also triggered by a positive edge of the 'start of advance program' signal. 'Semi-Automatic' mode 'Setup' mode The positive edge of the 'start of advance program' signal (PCADV) starts the advance program. Unlike in 'Automatic' mode, the NC monitors the 'start advance program' signal in the other modes after the program has been started. The advance program is executed as long as the signal is applied. When the signal is removed, active movements are decelerated along a ramp, and program execution is interrupted. A new advance program start restarts program execution. The following conditions interrupt an advance program: Power shutdown Error Process enabling signal removed Stop Changing modes single step mode, and Starting a reverse program

33 TRANS200 Interface Description PLC Interface Signals 2-23 Reverse program start 'PCREV' PCREV = Process Command Reverse Program Start Control signal PLC NC CREV = 0: No reverse program start CREV = 1: Reverse program start Requirements for the start of the reverse program: Power present No error condition exists, and Process enabling signal issued This control signal has different meanings in the different modes. 'Automatic' mode A positive edge of the 'start of reverse program' (PCREV) signal starts the reverse program. A reverse program start may also be initiated while an advance program is being executed or stopped. The 'start of reverse program' signal may be removed when the reverse program is processed. The restart of an interrupted reverse program from the currently active block number is triggered by a positive edge of the 'start of reverse program' signal. 'Semi-Automatic' mode 'Setup' mode A positive edge of the 'start of reverse program' signal starts the reverse program. Unlike in 'Automatic' mode, the NC monitors the 'start reverse program' signal in the other modes after the program has been started. The reverse program is executed as long as the signal is applied. When the signal is removed, active movements are decelerated along a ramp, and program execution is interrupted. Program execution is resumed (restart) when the signal is re-applied. The following conditions interrupt a reverse program: Power shutdown Error Process enabling signal removed Stop single step mode, and Changing modes

34 2-24 PLC Interface Signals TRANS200 Interface Description Program stop 'PCSTOP' PCSTOP = Process Command Program Stop Control signal PLC NC PCSTOP = 0: No program stop PCSTOP = 1: Program stop Program stop has an effect in all modes. The 'program stop' signal interrupts program execution for this process. Axis movements are decelerated along a ramp, and program preparation is interrupted. The stopped process can be continued by starting an advance or a reverse program. The 'program stop' signal has to have been cleared first however. Jog movements are not influenced by setting the 'program stop' signal. Clear error 'PCCLEAR' PCCLEAR = Process Command Clear Error Control signal PLC NC PCCLEAR = '0' - No action PCCLEAR = '1' - Clear error / Control reset The signal is effective in all modes. Depending on whether or not there is an error pending (PSERROR = 1), the signal has two different effects: PSERROR=0, PCCLEAR=1 : Control reset PSERROR=1, PCCLEAR=1: Pending error is deleted Delete error A pending error is cleared upon the rising edge of the 'clear error' signal. The NC clears the 'error' signal to indicate that the error has been cleared. The 'error' signal is set again and the error is indicated again if the error still exists. Once an error has been successfully cleared, the advance program which was interrupted by the error cannot be restarted. The only exception is if the 'program execution required' process parameter has also been set to 'no' and if the axes have measuring reference. If a start is to be possible without measuring reference, the 'reference required' process parameter must also be set to 'no'. When a reverse program is initiated, program segments with reverse vectors will be processed first, followed by the base reverse program (starting from the jump label '.HOME'). Control reset A stopped NC program can be aborted by a 'Control-Reset' input. A running spindle is stopped by 'Control reset' (exception: see AxCSPRST).

35 TRANS200 Interface Description PLC Interface Signals 2-25 Programmed reverse vectors are cleared. The '.HOME' base reverse vector is therefore called when a reverse program is initiated. This executes the base reverse program. Complicated return movements that permit program-controlled establishment of the readiness to start by programming reverse vectors are not performed. The operator must perform those movements in 'Setup' mode through jog movements. Once it has been ensured that the base reverse program can be executed without interference, the operator may trigger a start of the reverse program and initiate the base reverse program. The following signals and actions are also influenced by a 'Control reset': The 'NC block active' (PSACTIV) status signal is reset The 'reverse program active' (PSREV) status signal is reset The 'program stopped' (PSSTOP) status signal is reset The 'control voltage interruption' (PSPOWIN) status signal is reset pending M functions are aborted an unconditional stop (M00) is terminated a conditional stop (M001) is terminated M3 spindle CCW rotation is aborted (exception: see AxCSPRST) M4 spindle CW rotation is aborted (exception: see AxCSPRST) The PSREADY signal is set to '1' if the 'homing required' parameter has been set to 'no' messages that have been generated in the NC program are cleared the NC block 'N0001' appears in the position display for the currently selected NC program Zero offsets are switched off the upper limit of the override value is set to 100% G codes are set according to their default values Internal couplings are deactivated (e.g., tapping) event monitoring is de-activated Process acceleration is set to 100% the 'travel to dead stop' state is reset a pending AxD command from the NC is aborted spindle '1' is used as reference spindle the D corrections are de-activated

36 2-26 PLC Interface Signals TRANS200 Interface Description Branching conditions 'PCCONDn' PCCONDn = Process Command Condition n Control signals PLC NC PCCONDn = 0: All conditions deleted PCCONDn = 1-31: Condition 1-31 set The branching conditions have an effect in all modes. Applying a bit combination to the inputs PCCONDn (n = 0 to 4) satisfies the condition with the corresponding number in the NC program. The condition can be queried in the NC program by means of the allocated NC commands (BES / BEV). The number of the condition is assigned to the inputs as a binary value. The weight of each input follows directly from n to 2^n: Asynchronous condition 'PCEVENT' PCEVENT = Process Command Event Control signals PLC NC PCEVENT = 0: Asynchronous condition deleted PCEVENT = 1: Asynchronous condition set The PCEVENT signal interrupts any NC program that is running. All moving axes are stopped as quickly as possible. Then a block is started that has been previously defined by means of program control commands (BEV). The NC program is continued with this block. Acknowledging NC signaling 'PCACKN4nn' PCACKN4nn = Process Command Acknowledge n {0><}100{> Control signals PLC NC PCACKNnn = 0: No acknowledgement PCACKNnn = 1: NC signal is acknowledged The signaling has an effect in all modes. Signals generated in the NC program (M400 to M431 or MQ400 to MQ431) have to be acknowledged via the allocated control signals PCACKN4nn (nn = 0 to 31). Only as a result of the acknowledgment can the NC cancel the relevant output signal (PSAUX4nn) (see separate description).

37 TRANS200 Interface Description PLC Interface Signals 2-27 Mini control panel control Signals to BTx mini control panel 'BCDATnn' BCDATnn = BTx Command Data Bit nn Control signals PLC NC BTx BCDATnn = 0: BTx data bit deleted BCDATnn = 1: BTx data bit set The signaling has an effect in all modes. If there is a connection to a mini control panel (BTC / BTV; PSBTXCON = 1) and the integrated control panel has not been released (PCBTXEN = 0), the PLC can control the inputs of this mini control panel itself using these signals. NC program status Error 'PSERROR' PSERROR = Process Status Error Status signal NC PLC PSERROR = 0: No error PSERROR = 1: Error This signal has an effect in all modes. The NC uses the 'error' signal to notify the PLC of a process error. The uncoded error text is displayed in the diagnosis overview of the user interface. The error number can be read from the PLC by means of the multiplex channel (cf. Field bus documentation). A pending error must be cleared by setting the 'clear error' signal in the PLC program. The 'PSERROR' error signal is set again if the error condition is still active even after the error has been cleared. An NC program cannot be executed as long as an error status is pending. Ready to start 'PSREADY' PSREADY = Process Status Program is Ready to Start Status signal NC PLC PSREADY = 0: Not ready to start PSREADY = 1: Ready to start The signal is effective in all modes.

38 2-28 PLC Interface Signals TRANS200 Interface Description Note: Depending on the settings of the two parameters 'reverse program execution required' and 'reference required', executing a reverse program and/or the axis reference is not necessary for starting the advance program. The 'ready to start' signal indicates that a process is ready to be started. Depending on the setting of the 'reverse program execution required' parameter, a process is first ready to be started after a reverse program has been executed. In this reverse program, reference dimension must be established for all axes that belong to the process. The 'ready to start' signal is set when the reverse program is terminated with the 'jump with stop' (BST) or 'program end with reset' (RET) command. The 'ready-to-start' condition is also established when a forward program has been correctly executed. In this case, the forward program must be terminated by a 'jump with stop' (BST) or 'program end with reset' (RET) command. The 'ready to start' signal is cleared when an advance or reverse program is active (PSACTIV). Any type of jogging movement (single axis homing, jogging) cancels the 'ready to start' signal. Successful completion of the reverse program permits the 'ready to start' signal to be re-established. Single-axis homing of all axes does not permit the 'ready to start' signal to be established. NC Block Active 'PSRUN' PSRUN = Process Status Program Running Status signal NC PLC PSRUN= 0: No NC block being executed PSRUN= 1: NC block being executed The signal is effective in all modes. The 'NC block active' signal shows that an NC block is being executed. Distinction between advance and reverse program is not made here. The 'NC block active' signal is retained when an NC block is stopped by a stop command. The 'NC block active' signal is cleared when a 'jump with stop' (BST) or 'program end with reset' (RET) block is executed in the program. In single step mode, the 'NC block active' signal is cleared after each NC block. Any type of jogging movement (single axis homing, jogging) cancels the 'NC block active' signal. Setting the 'clear error' output in the PLC program without a pending process error clears the 'NC block active' signal (Control Reset).

39 TRANS200 Interface Description PLC Interface Signals 2-29 NC Program Active 'PSACTIV' PSACTIV = Process Status Program Active Status signal NC PLC PSACTIV = 0: No NC program being executed PSACTIV = 1: NC program being executed The signal is effective in all modes. The 'NC program active' signal shows that an NC program is being executed. Distinction between advance and reverse program is not made here. The 'NC program active' signal is retained when an NC program is stopped by a stop command. The 'NC program active' signal is cleared when a 'jump with stop' (BST) or 'program end with reset' (RET) block is executed in the program. Unlike the 'NC block active' signal, the 'NC program active' signal is retained after each NC block in single block mode. Any type of jogging movement (single axis homing, jogging) cancels the 'NC program active' signal. Setting the 'clear error' signal in the PLC program without a pending process error clears the 'NC program active' signal (Control Reset). Reverse Program Active 'PSREV' PSREV = Process Status Reverse Program Active Status signal NC PLC PSREV = 0: No reverse program being executed PSREV = 1: Reverse program being executed The signal is effective in all modes. The 'reverse program active' signal is output in addition to the 'NC block active' and 'NC program active' signals when a reverse program is executed. The 'reverse program active' signal remains active when an NC reverse program is stopped by a stop command. The 'reverse program active' signal is cleared if a 'jump with stop' (BST) or 'program end with reset' (RET) block has been executed in the program, and a reverse program start signal has not been applied. In single block mode, the 'reverse program active' signal is retained after each block. Any type of jogging movement (single axis homing, jogging) cancels the 'reverse program active' signal. Setting the 'clear error' signal in the PLC program without a pending process error clears the 'reverse program active' signal (Control Reset).

40 2-30 PLC Interface Signals TRANS200 Interface Description NC program stopped 'PSSTOP' PSSTOP = Process Status NC Program Stop Status signal NC PLC PSSTOP = 0: No program stop PSSTOP = 1: Program stopped The signal is effective in all modes. The 'NC program stopped' signal indicates that an NC program has been stopped. The program in question can be an advance or a reverse program. The 'NC program stopped' signal is set as soon as the NC program execution is stopped (program stop in the NC program, PLC program; mode changeover during program execution, etc.) and all axes are stopped. The signal will also be set if the control voltage is interrupted during NC program execution. The 'NC program stopped' signal is not set if a block has been executed in single block mode and the next program start is awaited, or if an 'HLT', 'M00' or 'M01' has been programmed in the NC program. The ''NC program stopped' signal is cleared when the interrupted program is restarted by an advance or reverse program start. Any type of jogging movement (single axis homing, jogging) cancels the 'NC program stopped' signal. Setting the 'clear error' signal in the PLC program without a pending process error clears the 'NC program stopped' signal (Control Reset). Thrust Missing 'PSTHMIS' PSTHMIS = Process Status Thrust Missing Status signal NC PLC PSTHMIS = 0: The machining torque has not exceeded the preselected minimum machining torque (parameter B00.065) during machining. PSTHMIS = 1: The machining torque has exceeded the preselected minimum machining torque (parameter B00.065) during machining. The signal is effective in all modes. The 'PSTHMIS' signal indicates that the minimum machining torque (parameter B00.065) has not been exceeded during machining with an active "adaptive feed control" function. The 'PSTHMIS' signal is set, if the minimum machining torque (Parameter B00.065) is not exceeded when the "adaptive feed control" (G25) function is shut down. The 'PSTHMIS' signal is reset, as soon as: the adaptive feed control" function is switched on (G26), the program processing has been completed (RET / BST), any "control reset" has been cleared.

41 TRANS200 Interface Description PLC Interface Signals 2-31 The following are possible reasons why the minimum machining torque has not been exceeded: missing work piece Tool breakage incorrect correction data (D corrections) faulty zero offsets Excessive Thrust 'PSEXCTH' PSEXCTH = Process Status Excessive Thrust Status signal NC PLC PSEXCTH = 0: The current feed reduction does not exceed the maximum feed reduction (parameter B00.067). PSEXCTH = 1: The current feed reduction does exceed the maximum feed reduction (parameter B00.067). The signal is effective in all modes. The 'PSEXCTH' signal indicates that the maximum feed reduction (Parameter B00.067) has been exceeded during machining with an active "adaptive feed control" function. The 'PSEXCTH' signal is set, as soon as the current feed reduction exceeds the "maximum feed reduction" (Parameter B00.067) limit value. The 'PSEXCTH' signal is reset, as soon as the current feed reduction falls short of the "maximum feed reduction" (Parameter B00.067) limit value. Note: The NC continues machining even if the current feed reduction exceeds the "maximum speed reduction" (parameter B00.067) limit value. Not until the current feed reduction reaches 100% for more than 20 ms (axis standstill) and the value of the "maximum feed reduction" (Parameter B00.067) limit value is less than 100%, does TRANS200 stop the machining process and generate error message "100% feed axis". The following are possible reasons why the maximum feed reduction has been exceeded: sluggish mechanical system worn-out tool coolant supply interrupted

42 2-32 PLC Interface Signals TRANS200 Interface Description Control voltage interruption 'PSPOWIN' PSPOWIN = Process Status Power Interrupt Status signal NC PLC PSPOWIN = 0: No control voltage interruption PSPOWIN = 1: Program stop due to control voltage interruption The signal is effective in all modes. The 'control voltage interruption' signal indicates that an executing NC program has been interrupted by switching off the controller power supply. When the power supply is switched back on the signal is PSPOWIN = 1; the 'NC program stopped' signal is set. After the control voltage has been interrupted, executing a reverse program re-establishes the ready-to-start condition if this is required for processing an advance program (i.e. the 'program execution required' parameter has been set to 'Yes'). The 'control voltage interruption' signal is cleared when a reverse program is started. Any type of jogging movement (single axis homing, jogging) cancels the 'control voltage interruption' signal. Setting the 'clear error' output in the PLC program without a pending process error clears the 'control voltage interruption' signal (Control Reset). NC signaling 'PSAUX4nn' PSAUX4nn = Process Command PSAUX4nn n Control signals PLC NC PSAUX4nn = 0: No signaling PSAUX4nn = 1: NC signaling active The signaling has an effect in all modes. In the NC program, the PSAUX4nn (nn = 0 to 31) signals can be set by executing NC auxiliary functions (M400 to M431 or MQ400 to MQ431) (see separate description). All signaling must be acknowledged via the allocated PCACKN4nn signals. The NC program is either interrupted until the acknowledgement is received (M4nn) or the NC program can request the acknowledgment later (by means of MW4nn) (MQ4nn). Renewed signaling via the same output signal is only possible following acknowledgment.

43 TRANS200 Interface Description PLC Interface Signals 2-33 Mini control panel status Signals from BTx mini control panel 'BCDATnn' BSDATnn = BTx Command Data Bit nn Control signals PLC NC BTx BSDATnn = 0: BTx data bit deleted BSDATnn = 1: BTx data bit set The signaling has an effect in all modes. If there is a connection to a mini control panel (BTC / BTV; PSBTXCON = 1), the PLC can control the outputs of this mini control panel using these signals. Note: See the documentation of the mini control panels for the assignment of the signal to the respective mini control panel. Signals from BTC Mini Control Panel 'BSAPPR' BSAPPR = BTC Command Approve Control signals PLC NC BTx BSAPPR = 0: BTC approval button not pressed BSAPPR = 1: BTC approval button pressed The signaling has an effect in all modes. If there is a connection to a mini control panel of type BTC06 (PSBTXCON = 1), the PLC can read the status of the BTC approval button. Signals from BTC Mini Control Panel 'BSPANIC' BSPANIC = BTC Command Panic Control signals PLC NC BTx BSPANIC = 0: BTC panic button not pressed BSPANIC = 1: BTC panic button pressed The signaling has an effect in all modes. If there is a connection to a mini control panel of type BTC06 (PSBTXCON = 1), the PLC can read the status of the BTC panic button.

44 2-34 PLC Interface Signals TRANS200 Interface Description 2.3 Axis signals There is an axis signal interface between the NC and the PLC for each of the up to 7 axes of TRANS200. An NC controlled main spindle is also regarded as an axis. Explanation of the symbolic operands: Axis signals are only processed in the NC for the axes that have been entered in the system parameters. Axis signals of axes that are marked as 'non-existing' in the system parameters will not be processed (even if they have been programmed in the PLC). The axis signals are subdivided into the following four groups: Axis monitoring signals Axis control signals Axis status signals Path control signals These signals are used for monitoring the individual axes and for generating specific diagnosis messages in the NC. Axis monitoring signals These signals are used for controlling the function of each individual axis. These signals are used for providing the PLC with information about the states of the individual axes. Fig. 2-8: Grouping of axis signals These signals can be used like cams for monitoring the areas in the PLC. The monitoring of safety limit switches and thermal protection switches is performed in the NC in order to be able to guarantee a differentiated and always correct diagnosis in conjunction with process control signals. Thus, it is necessary that the alarm lines of the individual axes are directly transferred to the NC, without any further interconnections inside the PLC. Safety limit switch 'AxCOTRVL' AxCOTRVL = Axis x Command Overtravel Limit Switch Control signal PLC NC AxCOTRVL = 0 : Safety limit switch actuated; EMERGENCY STOP chain open AxCOTRVL = 1 : Safety limit switch not actuated This signal is used for telling the NC that a safety limit switch has been actuated and, consequently, the EMERGENCY STOP chain of that station has been opened. The safety limit switches of all axes in a station are connected in series in the EMERGENCY STOP chain. Opening the switch of the first axis therefore causes an error message to be issued for all subsequent axes. The safety limit switches of the individual stations must therefore be connected in series in such a manner that the axis with the smallest axis number is positioned at the beginning of the EMERGENCY STOP chain while the axis with the highest axis number is positioned at the end. If several axes in a station have activated their safety limit switches at the same time, the TRANS200 reports only the axis with the smallest axis number in the station diagnosis.

45 TRANS200 Interface Description PLC Interface Signals 2-35 Note: After a safety limit switch has been activated, a hardware jumper (existing service switches) must be connected across the corresponding limit switch. Power can then be switched back on. Next, the axis must be jogged back into the travel range in 'Setup' mode, and the jumper must be removed. Subsequent activation of the reverse program permits the unit to be taken back to the home position. If the station is used without a safety limit switch, the corresponding signal in the PLC program must be set statically to '1' (rotary axis, main spindle). If this is not done, the NC will not enable the power (PSPOWEN). Note: For spindles and rotary axes, this signal must statically be set to '1'. Axis control signals The term 'Axis control signals' covers all signals that are generated in the PLC and transferred to the NC. Some control signals are only active in a specific mode, others are mode-independent. Axis ready for operation 'AxCREADY' AxCREADY = Axis x Command READY Control signal PLC NC Valid in all modes. AxCREADY = 0: Axis is not ready AxCREADY = 1: Axis is ready This signal is used for reporting the operational state of an axis to the NC. If all the requirements for switching on the power are satisfied, and if power is present, when the Ready for operation signal (AxCREADY) is applied the NC issues the Controller enable signal (AxSRF) for the relevant axis. If an axis is moved that is not ready for operation, the NC corrects the command value to the actual value. Controller enabling signal and velocity command values are not output for axes that are not ready for operation. This permits an axis to be clamped. If the axis receives a motion command from the NC program while the READY signal is inactive, program execution is stopped and the 'inactive axis programmed' process error is generated. Note: Specific deactivation of the controller enabling signal requires the 'ready for operation' signal (AxCREADY) to be interconnected with specific shutdown conditions. This signal can be interconnected directly with the Digital drive ready for operation status signal AxSBBDIG (Default).

46 2-36 PLC Interface Signals TRANS200 Interface Description Axis enabled 'AxCENABL' AxCENABL = Axis x Command Enable Control signal PLC NC AxCENABL = 0 : No axis enabling signal AxCENABL = 1 : Axis enabling signal present Only valid in 'Setup' mode for jogging an axis. The axis enabled signal only has an effect in 'Setup' mode when an axis is jogged. The axis cannot be moved by a jog signal if the 'axis enabled' signal is missing. Removing the 'axis enabled' signal from a jogged axis stops the axis immediately. The 'axis enabled' signal should be used if jogging an axis is only permitted in certain travel ranges. Axis enabling is cleared in the PLC program when those ranges are left (e.g. delimiting the travel range by waypoints after the reference dimension has been established, specific cams, or proximity switches that report mechanical end positions). Subsequently, adequate interlocking in the PLC program will permit jogging to be performed only in the opposite direction. Note: The 'axis enabled' signal must statically be set to '1' if is not used as a safety function in the PLC program. Axis homing 'AxCHOME' AxCHOME = Axis x Command Homing Control signal PLC NC AxCHOME = 0 : No homing AxCHOME = 1 : Homing command Only valid in 'Setup' mode. Single-axis homing requires the following requirements to be fulfilled: 'Setup' mode has been selected; the axis enabled signal has been applied; the process enabling signal is issued; power is available; no error condition exists, and no NC block is active or the NC program has been stopped. The 'single axis homing' signal is activated upon the positive edge. The 'axis homed' signal (AxSHOMED) is set after homing has been successfully completed. The following conditions interrupt single-axis homing: jog command 'positive jogging' or 'negative jogging' at the same time; Axis enabled signal removed

47 TRANS200 Interface Description PLC Interface Signals 2-37 Process enabling signal removed Jogging modes changed over Mode changeover Process error condition exists homing signal removed When an axis is jogged, the readiness for starting an advance program is lost. However, starting a reverse program is possible. The effect on the ready-to-start capability is insignificant if the 'reverse program execution required' process parameter has been set to 'No'. Note: The signal is not required for absolute measuring systems. Positive jogging 'AxCJGPOS' AxCJGPOS = Axis x Command Jogging Positive Control signal PLC NC AxCJGPOS = 0 : No positive jog command AxCJGPOS = 1 : Positive jog command Only effective in 'setup' mode. Applying the 'AxCJGPOS' signal in 'Setup' mode moves the axis in the positive direction. The type of movement (continuous or incremental axis movement) is defined by the jog mode, and the velocity is defined by the 'rapid traverse rate' or 'jog rate' signal. Rapid traverse rate is only interpreted after reference has been established. The following are the prerequisites of an axis movement: The axis is ready for operation (AxCREADY=1) and the controller enabling signal has been activated The controller enabling signal has been applied to the drive (AxSRF=1) The axis enabling signal is present (AxCENABL=1) 'Setup' mode has been preselected for this station (PCMODE0=0, PCMODE1=1) There is no homing command pending for the axis (AxCHOME=0) There is no jog command in the negative direction pending for the axis (AxCJGNEG=0) No NC block is active or the NC program has been stopped. The axis can only be moved in the positive direction when all conditions are fulfilled and as long as the 'AxCJGPOS' signal is applied. If 'continuous jogging' has been selected, the axis moves as long as the AxCJGPOS signal is applied or until the positive travel range limit has been reached. In any other jog mode (incremental jogging), the positive edge of the signal initiates a movement that is not stopped before the selected distance has been covered.

48 2-38 PLC Interface Signals TRANS200 Interface Description The following conditions interrupt the jog movement: Jog command 'negative jogging' or single-axis homing at the same time Axis enabled signal removed Process enabling signal removed Jogging modes changed over Mode changeover Process error condition exists When an axis is jogged, the readiness for starting an advance program is lost. However, starting a reverse program is possible. This response is relevant if the 'reverse program execution required' process parameter has been set to 'Yes'. Negative jogging 'AxCJGNEG' AxCJGNEG = Axis x Command Jogging Negative Control signal PLC NC AxCJGNEG = 0 : No jog command in the negative direction AxCJGNEG = 1 : Negative jog command Only effective in 'setup' mode. Applying the 'AxCJGNEG' signal in 'Setup' mode moves the axis in the negative direction. The type of movement (continuous or incremental axis movement) is defined by the jog mode, and the velocity is defined by the 'rapid traverse rate' or 'jog rate' signal. The following are the prerequisites of an axis movement: The axis is ready for operation (AxCREADY=1) and the controller enabling signal has been activated The controller enabling signal has been applied to the drive (AxSRF=1), The axis enabling signal is present (AxCENABL=1), 'Setup' mode has been preselected for this station (PCMODE0 = 0, PCMODE1 = 1), There is no homing command pending for the axis (AxCHOME=0), There is no jog command in the positive direction for the axis (AxCJGPOS=0), and No NC block is active or the NC program has been stopped. The axis can only be moved in the negative direction when all conditions are fulfilled and as long as the 'AxCJGNEG' signal is applied. If 'continuous jogging' has been selected, the axis moves as long as the AxCJGNEG signal is applied or until the negative travel range limit has been reached. In any other jog mode (incremental jogging), the positive edge of the signal initiates a movement that is not stopped before the selected distance has been covered.

49 TRANS200 Interface Description PLC Interface Signals 2-39 The following conditions interrupt the jog movement: jog command 'positive jogging' or single-axis homing at the same time; axis enabled signal removed; removing the process enabling signal, jogging modes changed over, mode changeover or A process error condition exists. When an axis is jogged, the readiness for starting an advance program is lost. Starting a reverse program is possible. This response is relevant if the 'reverse program execution required' process parameter has been set to Yes. Writing to a SERCOS real-time control bit 'AxCQDDS' AxCQDDS = Axis x Command Output of DDS Control signal PLC NC AxCQDDS = 0 : Real-time control bit is 0 AxCQDDS = 1 : Real-time control bit is 1 Note: Only real-time bit No. 2 can be manipulated. This signal enables the PLC to write via the NC to a real-time control bit in the digital drive. The allocation of an ID number to the real-time control bit in the SERCOS parameters determines the function that is triggered when the bit is written to. Please refer to the SERCOS Interface description for a list of the parameters that can be manipulated via a real-time control bit and a description of the procedure for allocating a parameter to the real-time control bit. Motion hold 'AxCMHOLD' AxCMHOLD = Axis x Command Motion Hold Control signal PLC NC AxCMHOLD = 0 : Axis movement is enabled AxCMHOLD = 1 : Axis movement is disabled The signal is valid in all modes. It is also interpreted for spindle axes. When this signal is manipulated, it must be distinguished whether motion hold is set for an interpolating and/or coupled axis or for a noninterpolating axis.

50 2-40 PLC Interface Signals TRANS200 Interface Description For non-interpolating axes the following applies: If motion hold for a non-interpolating axis is applied before a movement is announced (AxCMHOLD = 1), the axis will not be moved as long as motion hold is active. If motion hold has not been applied, the axis will immediately be moved independently of the other axes if a movement announcement is still applied. The actual movement of the axis is interrupted if the PLC sets the motion hold while an axis is moving. Following a ramp function, the axis is decelerated at maximum deceleration without affecting the other axes. The movement announcement signal remains applied during the interruption of the movement. Note: If the PLC sets motion hold when a movement announcement is reported to the PLC, the different propagation times of the individual signals will cause the axis concerned to be moved before the motion hold becomes effective. The axis will then be stopped immediately. For interpolating and/or coupled axes the following applies: In this case, interpolating axes and/or axes that participate in the coupling are also stopped, keeping to the path contour. The movement is continued automatically once the PLC removes the motion hold signal. General rule: If the NC waits for the movement to be enabled, the NC generates a status message when the 'motion hold' signal is set. In addition, the 'inactive axis programmed' message is not output and an error is not generated by switching off the controller enabling signal while motion hold is active. Note: A disabled axis may not be programmed with a velocityoptimized block transition (G08). Spindle stop upon process stop 'AxCSPSTP' AxCSPSTP = Axis x Command Spindle Stop Control signal PLC NC AxCSPSTP = 0 : Process stop without spindle stop AxCSPSTP = 1 : Spindle stop with process stop A running spindle will be stopped upon a process stop if the 'Spindle stop upon process stop' signal is set. The spindle will start first when the NC program is restarted. The NC program is continued once the command speed has been reached. Any additional axes will also be moved then. A spindle will not be affected upon a process stop if the 'Spindle behavior upon process stop' signal is cleared. If the 'Spindle stop upon process stop' signal is set and there is no process stop, the spindle will not be stopped. If a process stop exists when the spindle stop signal is set, the spindle will not be stopped. This means that the spindle stop signal must be issued together with the process stop at the latest.

51 TRANS200 Interface Description PLC Interface Signals 2-41 Note: The signal is only interpreted for spindles. Spindle stop with stopped NC program 'AxCSPHLT' AxCSPHLT = Axis x Command Spindle Halt Control signal PLC NC AxCSPHLT = 0 :No spindle stop when NC program is stopped AxCSPHLT = 1 : Spindle stop when NC program is stopped The 'spindle stop upon stopped NC program' signal retrospectively stops a running spindle after the NC program has already been interrupted. The signal must be set for this purpose. The signal does not have an effect if the NC program has not yet been stopped. The spindle will start first when the NC program is restarted. The NC program is continued once the command speed has been reached. Any additional axes will also be moved then. Note: This signal is only interpreted for a spindle. Spindle stop at program end 'AxCSPSTE' AxCSPSTE = Axis x Command Spindle Stop with Program End Control signal PLC NC AxCSPSTE = 0 : No spindle stop at program end AxCSPSTE = 1 : Spindle stop at program end If the spindle stop at program end signal is not set, a 'BST', 'RET', 'M30' or 'M02' in the NC program will not stop a running spindle. The spindle concerned will only be stopped if the signal is set to logic '1' before the program end is reached. The stopped spindle will not be started when the NC program is started again. If this response is required, the corresponding auxiliary function must be programmed in the first block of the NC program. Note: The signal is only valid for spindle axes.

52 2-42 PLC Interface Signals TRANS200 Interface Description Spindle stop on Control Reset 'AxCSPRST' AxCSPRST = Axis x Command Spindle Stop on Control Reset Control signal PLC NC AxCSPRST = 0: Control reset stops the spindle AxCSPRST = 1: Control reset does not influence the spindle This control signal can influence the response of the spindle to a Control reset. If the control signal is set, Control Reset will not stop a running spindle. If the control signal is not set, Control Reset will stop a running spindle. Activate spindle CCW rotation (Mx3) 'AxCM3' AxCM3 = Axis x Command M3 Control signal PLC NC AxCM3 : Spindle CCW rotation The signal is only interpreted in 'Setup' mode. A positive edge of the AxCM4 signal in 'Setup' mode activates CCW rotation of the related axis. The NC takes the value stored for the 'jog speed' main-spindle-related axis parameter as the command speed. Prerequisites for axis movement are: the axis is ready for operation (AxCREADY=1) and the controller enabling signal has been activated (AxSRF=1), the axis enabling signal is present (AxCENABL=1), motion hold is inactive (AxCMHOLD=0), 'Setup' mode is preselected; and spindle CW rotation, spindle stop, or spindle positioning command have not been applied at the same time. Once spindle CCW rotation has been started, it may be aborted by: a control reset via the PLC (exception: see AxCSPRST); or the spindle stop interface signal (AxCM5=1). Activate spindle CW rotation (Mx4) 'AxCM4' AxCM4 = Axis x Command M4 Control signal PLC NC AxCM4 : Spindle CW rotation The signal is only interpreted in 'Setup' mode. A positive edge of the AxCM4 signal in 'setup' mode activates CW rotation of the related axis. The NC takes the values stored for the 'jog speed' main-spindle-related axis parameter as the command speed.

53 TRANS200 Interface Description PLC Interface Signals 2-43 Prerequisites for axis movement are: The axis is ready for operation (AxCREADY=1) and the controller enabling signal has been activated (AxSRF=1) The axis enabling signal is present (AxCENABL=1) Motion hold is inactive (AxCMHOLD=0) 'Setup' mode is preselected; and Spindle CCW rotation, spindle stop, or the spindle positioning command have not been applied at the same time. Once spindle CW rotation has been started, it may be aborted by: a control reset via the PLC (exception: see AxCSPRST) the spindle stop interface signal (AxCM5=1) Spindle stop (Mx5) 'AxCM5' AxCM5 = Axis x Command M5 Control signal PLC NC AxCM5 : Spindle stop The signal is only interpreted in 'Setup' mode. A positive edge of the AxCM5 signal in 'Setup' mode activates 'spindle stop for the related axis. Prerequisites for stopping the spindle with AxCM5 are: Spindle CCW rotation (AxCM3) or spindle CW rotation (AxCM4) are not applied at the same time Note: The signal is only available for main spindles. Spindle positioning (Mx19) 'AxCM19' AxCM19 = Axis x Command M19 Control signal PLC NC AxCM19 : Position spindle The signal is only interpreted in 'Setup' mode. A positive edge of the 'AxCM19' signal in 'Setup' mode issues a spindle positioning command for the related axis.

54 2-44 PLC Interface Signals TRANS200 Interface Description Prerequisites for positioning the spindle with AxCM19 are: Spindle CCW rotation (AxCM3) or spindle CW rotation (AxCM4) are not applied at the same time The position that is approached after the signal has been activated is contained in the axis parameter Cxx.059 'parametric spindle jogging distance'. When DDS is used as a spindle, the ID number must be set to logic '1' in order to be able to perform spindle positioning. Rapid traverse speed for spindle 'AxCRAPID' AxCRAPID = Axis x Command Rapid Control signal PLC NC AxCRAPID = 0: No rapid traverse speed during jogging AxCRAPID = 1: Rapid traverse speed during jogging 'Automatic' mode 'Semi-automatic' mode The AxCRAPID signal is not interpreted in these modes. 'Manual' mode The rapid traverse speed that has been programmed in the setup register is used for manual axis movements (jogging) when the 'rapid traverse for spindle' signal is set. The spindle rotates at rapid traverse speed as long as the rapid traverse signal is applied. Note: The signal is only effective for spindle axes. Axis status signals The term 'axis status signals' covers all signals that are issued from the NC to the PLC in order to report a statement about certain axis modes. Controller enabling 'AxSRF' AxSRF = Axis x Status RF Status signal NC PLC AxSRF = 0 : Controller enabling off AxSRF = 1 : Controller enabling on The 'controller enabling' signal of an axis must never be generated automatically in the PLC. Instead, the PLC must use the 'axis ready for operation' control signal (AxCREADY) to tell the NC whether the controller enabling signal for the axis is to be activated or de-activated. The NC commands the axis processor responsible to close the position control loop for the axis. The 'controller enabling' signal (AxSRF) is output to the PLC when the drive acknowledges controller enabling.

55 TRANS200 Interface Description PLC Interface Signals 2-45 Note: If the digital SERCOS drive interface is used, the controller enabling signal is directly transferred to the drive via the fiberoptic cable. In this case, the 'controller enabling' signal that is returned to the PLC is merely a status signal. Transmission to the drive amplifier via the PLC is not necessary. The 'AxSRF' signal may also be used for triggering a brake (if, for example, the controller enabling signal of a blocked axis is switched off). Digital drive ready for operation 'AxSBBDIG' AxSBBDIG = Axis x Status BB Digital Drive Status signal NC PLC AxSBBDIG = 0 : Digital drive is not ready for operation AxSBBDIG = 1 : Digital drive is ready for operation Valid in all modes. The NC employs this signal to report the operational state of a digital drive (in conjunction with the SERCOS fiber-optic ring). The signal is activated as soon as the digital drive's DC bus voltage is established. The drive's diagnostics show AB or AF. The signal may be applied directly to the 'axis ready for operation' control signal AxCREADY (Default). The NC transfers the signal that is sent via the SERCOS fiber-optic ring to the PLC without modification. Axis is homed 'AxSHOMED' AxSHOMED = Axis x Status is Homed Status signal NC PLC AxSHOMED = 0 : Axis homing not present AxSHOMED = 1 : Axis is homed The NC employs this signal to tell the PLC whether or not the axis has been homed. With incremental position measuring systems, reference must be reestablished whenever the controller is switched on. This can be done manually for each individual axis using the 'axis homing' signal (AxCHOME) or be programmed via the valid NC reverse program. Single-axis homing of all axes of a process does not make the NC program of that process ready to start. The ready-to-start condition can only be attained by executing an NC reverse program (see Process signals: 'Ready to start'). The 'axis is homed' signal is used as a validity signal for the waypoint signals of that axis.

56 2-46 PLC Interface Signals TRANS200 Interface Description Axis movement in the positive direction 'AxSMVPOS' AxSMVPOS = Axis x Status Move Positive Status signal NC PLC AxSMVPOS = 0 :The axis is stopped or moves in the negative direction AxSMVPOS = 1 :The axis moves in the positive direction The NC employs this signal to tell the PLC that the axis is NC-controlled and moves in the positive direction. Note: This signal does not show that the axis is intended to be moved in the positive direction. It shows that a command value has already been issued to the axis. The signal can not be used for activating an axis that has been switched inactive. The signal is not output when digital axes are homed. Axis movement in the negative direction 'AxSMVNEG' AxSMVNEG = Axis x Status Move Negative Status signal NC PLC AxSMVPOS = 0 :The axis is stopped or moves in the positive direction AxSMVNEG = 1 :The axis moves in the negative direction The NC employs this signal to tell the PLC that the axis is NC-controlled and moves in the negative direction. Note: This signal does not show that the axis is intended to be moved in the negative direction. It shows that a command value has already been issued to the axis. The signal can not be used for activating an axis that has been switched inactive. The signal is not output when digital axes are homed. Waypoints 'AxSWPn' AxSWPn = Axis x Status Way Point 8 Status signals NC PLC AxSWPn = 0 :The active axis position is less than the position of the n th waypoint AxSWPn = 1 :The active axis position is greater than the position of the n th waypoint TRANS200 permits up to 8 positions to be entered in the axis parameters of each axis. Each position (0 to 7) is allocated to a status signal 'AxSWPn' (n = 0-7). Independently of the NC program, the status of the individual signals shows whether the current axis position is less than or greater than the position that is stored in the associated axis parameter.

57 TRANS200 Interface Description PLC Interface Signals 2-47 These waypoints permit working area protections to be programmed. Note: The NC always outputs the waypoints, even if the axis has not yet been homed. TRANS200 stores the axis positions when the controller is switched off, and restores them when it is switched on. It can therefore be assumed that, even without homing, the positions may be employed for performing rough monitoring activities using the waypoints. Obviously, this is not true after the machine has been manually manipulated or after new parameters have been loaded. The absolute validity of the waypoints can only be assured by including the 'axis homed' signal (AxSHOMED). Reading a SERCOS real-time status bit 'AxSIDDS' AxSIDDS = Axis x Status Input of DDS Control signal NC PLC AxSIDDS = 0 : Real-time status bit is 0 AxSIDDS = 1 : Real-time status bit is 1 This signal enables the PLC to read a real-time status bit in the drive via the NC. The status that is read from the drive depends on the allocation of an ID number to the real-time status bit in the SERCOS parameters Please refer to the SERCOS Interface description for a list of the parameters that can be allocated to a real-time bit and for an explanation of the procedure for allocating a parameter to the real-time bit. Motion announcement in the positive direction 'AxSMCPOS' AxSMCPOS = Axis x Status Motion Command positive Status signal NC PLC AxSMCPOS = 0 : No motion announcement exists for the axis AxSMCPOS = 1 : A motion announcement exists for the axis The signal is effective in all modes. The signal is set if there is a motion announcement in positive direction for the corresponding axis (including spindle axes). The signal remains applied as long as the axis is moving. The motion announcement signals are reset if the motion is interrupted by a stop. Note: Both motion announcement signals are set during homing, circular movements, and in handwheel mode.

58 2-48 PLC Interface Signals TRANS200 Interface Description Motion announcement in the negative direction 'AxSMCNEG' AxSMCNEG = Axis x Status Motion Command negative Status signal NC PLC AxSMCNEG = 0 : No motion announcement exists for the axis AxSMCNEG = 1 : A motion announcement exists for the axis The signal is effective in all modes. The signal is set if there is a motion announcement in negative direction for the corresponding axis (including spindle axes). The signal remains applied as long as the axis is moving. The motion announcement signals are reset if the motion is interrupted by a stop. Note: Both motion announcement signals are set during homing, circular movements, and in handwheel mode. Axis in positioning window 'AxSPOSWN' AxSPOSWN = Axis x Status in Position Window Status signal NC PLC The signal is effective in all modes. AxSPOSWN = 0 : The axis is outside the positioning window AxSPOSWN = 1 : The axis is inside the positioning window The signal is set once the axis has reached the programmed position and is in the associated positioning window. The signal is reset once the axis leaves the specified positioning window. Note: The 'AxSPOSWN' signal is not set during continuous jogging. The signal is issued in incremental jogging. The signal is not output after the 'spindle stop' Mx05 spindle command.

59 TRANS200 Interface Description PLC Interface Signals % load exceeded 'AxSLD90' AxSLD90 = Axis x Status Load 90 % Status signal NC PLC AxSLD90 = 0 : 90% load not exceeded AxSLD90 = 1 : 90% load exceeded The signal is effective in all modes. The signal is set when the spindle is used in a range in which 90% of its maximum load is exceeded. Note: The signal is only valid for digital main spindle drives. Spindle command reached (N act = N cmd ) 'AxSN_CMD' AxSN_CMD = Axis x Status N = N CMD {0><}0{> Status signal NC PLC AxSN_CMD = 0 : Command speed not yet attained AxSN_CMD = 1 : Command speed attained The signal is effective in all modes. The signal is set if the difference between the actual velocity value and the velocity command value is within a programmed velocity window. List of the influencing SERCOS parameters: Parameters SERCOS ident No. Velocity window Actual velocity value Velocity command value Fig. 2-9: SERCOS parameters 'spindle command speed reached' Note: The signal is only valid for digital main spindle drives. Spindle speed 0 reached (N N min ) 'AxSN_MIN' AxSN_MIN = Axis x Status N N min Status signal NC PLC AxSN_MIN = 0 : Spindle speed N min not yet attained AxSN_MIN = 1 : Spindle speed N min attained The signal is effective in all modes. This signal is set when the actual velocity value is inside the standstill window.

60 2-50 PLC Interface Signals TRANS200 Interface Description List of the influencing SERCOS parameters: Parameters SERCOS ident No. Standstill window Fig. 2-10: SERCOS parameter 'spindle speed 0 reached' Note: The 'AxSN_MIN' signal does not fulfill the personal safety requirements. The signal is only valid for digital main spindle drives. Velocity command value exceeded (N com N limit ) 'AxSN_MAX' AxSN_MAX = Axis x Status N cmd N Status signal NC PLC AxSN_MAX = 0 : Velocity command value not exceeded AxSN_MAX = 1 : Velocity command value exceeded The signal is effective in all modes. The signal is set when the velocity command value exceeds a velocity limit value. List of the velocity limit values: Parameters SERCOS ident No. Positive velocity limit value Negative velocity limit value Bipolar velocity limit value Fig. 2-11: SERCOS parameter 'velocity command value exceeded' Note: The signal is only valid for digital main spindle drives. Actual spindle torque value comparison (M d M dx ) 'AxSMD_DX' AxSMD_DX = Axis x Status M d M dx Status signal NC PLC AxSMD_DX = 0 : Actual spindle torque value < torque threshold AxSMD_DX = 1 : Actual spindle torque value > torque threshold The signal is effective in all modes. The AxSMD_DX signal is set if the spindle's actual torque value is greater than the selected torque threshold.

61 TRANS200 Interface Description PLC Interface Signals 2-51 List of the influencing SERCOS parameters: Parameters SERCOS ident No. Actual torque value Torque threshold Fig. 2-12: SERCOS parameter 'spindle torque value' Note: The signal is only valid for digital main spindle drives. Spindle is in position (in position) 'AxSINPOS' AxSINPOS = Axis x Status in Position Status signal NC PLC AxSINPOS = 0 : Spindle not positioned AxSINPOS = 1 : Spindle has attained position The signal is effective in all modes. The AxSINPOS signal is issued if, with respect to the position command value, the actual position value is within the positioning window after an 'Mx19' has been processed. List of the related SERCOS parameters: Parameters SERCOS ident No. Positioning window Position command value Fig. 2-13: SERCOS parameter 'spindle is in position' Note: The signal is only valid for digital main spindle drives. Spindle power output (P P x ) 'AxSP_PX' AxSP_PX = Axis x Status P P x Status signal NC PLC AxSP_PX = 0 : Power output less than power threshold AxSP_PX = 1 : Power output greater than power threshold The signal is effective in all modes. The signal is set if the output power is greater than the power threshold. The power threshold value (i.e. the value at and above which the 'AxSP_PX ' signal is to be generated) can be modified in the SERCOS parameters.

62 2-52 PLC Interface Signals TRANS200 Interface Description List of the related SERCOS parameters: Parameters SERCOS ident No. Power threshold Fig. 2-14: SERCOS parameters 'spindle power output' Note: The signal is only valid for digital main spindle drives. 2.4 Multiplex Channels Definition of Terms LSWord: Least Significant Word MSWord: Most Significant Word LSByte: Least Significant Byte MSByte: Most Significant Byte The information is based on the position of a datum within a 32-bit value (double-word): MSWord LSWord MSByte LSByte MSByte LSByte Fig. 2-15: Position of the data in a 32-bit value in Motorola (Big Endian) format LSWord MSWord LSByte MSByte LSByte MSByte Fig. 2-16: Position of the data in a 32-bit value in Intel (Little Endian) format Note: The IO configurator of the WinTrans user interface allows the position of the bytes in the memory map to be influenced dependently and independently of the data type (word / double-word) (see the IO configurator documentation). Function of Multiplex Channels TRANS200 supports a maximum of 2 multiplex channels in the form of read/write, read only, or write only channels. Multiplex channels permit CNC data to be read and written. The multiplex channels are attached to the configurable I/O signal range; the beginning of the first data container is oriented towards the next 16 bit limit. The size of the multiplex data container can be configured between 4 and 128 bytes in steps of one word (4, 6, 8, 10,..., 128 bytes). The 16-bit-wide multiplex control or status word follows the data container.

63 TRANS200 Interface Description PLC Interface Signals 2-53 Bit I/O MUX1 Data (4-128 bytes; 2-byte steps) MUX1 Control/Status (2 bytes) MUX2 Data (4-128 bytes; 2-byte steps) Bit I/O: Process and axis signals (configurable) MUXn Data: Multiplex data container (32 bits) MUXn Control/Status: Multiplex control and status word (16 bits) Fig. 2-17: Schematic structure of the TRANS200 IO map MUX2 Control/Status (2 bytes) Note: The total width of the IO range is limited to a maximum of 140 bytes. As a result, only one multiplex channel can be configured in its full width. The width of the IO range can also be limited by the type of IO activation. The size of a read-data container should be selected so that the transfer of the data that are often displayed in an image can be managed in as few single transfers as possible. For example, if the diagnostics text is required in many images, and if this is 40 characters long, the size of the data container should be 20 words. The next smaller suitable steps would be 10 words (2 transfers), 7 words (3 transfers) etc.; the performance drops step-by-step. Generally the size of a long word is sufficient for the write container; in most cases, only one datum is being written at a time. Writing NC data Reading NC data The PLC can transfer (write) data to TRANS200 by first depositing the data to be transferred in the corresponding write data container of the PLC output image and then triggering the writing procedure via the multiplex write control register. TRANS200 acknowledges the transfer of the data in the multiplex write status register. Similarly, the PLC can request data from the TRANS200 by triggering the request via the read control register. After the TRANS200 has made the acknowledgment in the read status register, the requested data become available in the read data container in the PLC input image. Multiplex Control / Status Word Write Control/Status Read Control/Status T Data Select Sub Select T Data Select Sub Select T: Toggle bit Data Selection: Selection of data type Sub Selection: Selection of a component Fig. 2-18: Structure of the multiplex control or status word The PLC selects the data to be transferred by means of the data selection in the control word (1 of 16). Further specification is made (e.g. axis number; 1 of 8) by means of the sub selection. A request is triggered by toggling the T bit.

64 2-54 PLC Interface Signals TRANS200 Interface Description Reading procedure flow It is a prerequisite that the toggle bit for the read control register has the same status as the toggle bit in the read status register. If the bits are not equal it means that TRANS200 has not yet executed the most recent request. A reading procedure is then initiated as follows: 1. The PLC enters the data selection in the read control register 2. The PLC enters the sub selection in the read control register 3. The PLC sets the toggle bit in the read control register differently than the bit in the read status register (toggling). TRANS200 now executes the request. 4. The PLC waits until TRANS200 has accepted the toggle bit in the read control register into the read status register. 5. Now either the requested data is in the multiplex read data container (data and sub select in the read status register and control register are identical) or an error code is present (data and sub select in the read status register are on the error level). Writing procedure flow It is a prerequisite that the toggle bit for the write control register has the same status as the toggle bit in the write status register. If the bits are not equal it means that TRANS200 has not yet executed the most recent request. A writing procedure is then initiated as follows: 1. The PLC enters the data selection in the write control register 2. The PLC enters the sub selection in the write control register 3. The PLC enters the data that are to be written in the write data container. 4. The PLC sets the toggle bit in the write control register differently than the bit in the write status register (toggling). TRANS200 now executes the request. 5. The PLC waits until the TRANS200 has accepted the toggle bit in the write control register into the write status register. 6. The TRANS200 has now accepted the data in the write data container (data and subselection in the write status and control registers are identical), or an error has occurred (data and subselection in the read status register are on the error level). Standard Data Transfer Standard data transfer permits the direct exchange of a limited selection of CNC data. The following limitations compared to data transfer using object data channels (see below) are to be taken into account: Not all data of a type are can be addressed (e.g. only 8 NC variables) Fewer data types are available for the transfer (text cannot be transferred) Only one datum can be transferred per cycle (limitation to doubleword) This method has the following advantages: Direct access without configuration (fast transfer) Easily handled Compatible to Version 21VRS

65 TRANS200 Interface Description PLC Interface Signals 2-55 Object Data Channels Larger data amounts can be transferred effectively using object data channels within a multiplex channel by utilizing wider data containers. Using object data channels, it is also possible to access several data elements of a type than is permitted by direct addressing using data and subselection (for example: all D corrections instead of only D1 and D2). The disadvantage of using object data channels is that they must be configured before accessing. Therefore, 2 steps are always required to transfer a data type: 1. Writing the object code (consisting of the object identification and the object parameters) for a read (data selection 12) or for a write (data selection 13) channel. 2. Executing the data transfer of the data specified by the object identification in the manner specified in the parameters (data selection 14). If data are to be transferred cyclically using an object data channel (e.g. diagnosis texts), step 1 is not necessary if the transfer is always executed completely. If only some of the data are required, the transfer must be explicitly reset by rewriting the object code. Object codes Object codes consist of an object identification and several parameters: ID IM2 IM1 P3 P2 P1 ID IM2 IM1 P3 P ID: Object identification (1 byte / see ID table) IM2: Increment mode 2 (1 bit / 0 or 1) IM1: Increment mode 1 (1 bit / 0 or 1) P3: Object parameter 3 (6 bits / 0-63) P2: Object parameter 2 (1 byte / 0-255) P1: Object parameter 1 (1 byte / 0-255) P: Summary of P1 and P2 (2 bytes / ) Fig. 2-19: Structure of an object code Depending on the requirements of an object, the individual parameters can be summarized into one (e.g. P2 and P1 are summarized into P, with a correspondingly larger value range). The object identification specifies the type of data to be transferred (e.g. variable, D correction, etc.). Using the parameters, an element is selected from the data of this data type. The datum that is thus specified can then be transferred via a read or a write channel. Increment mode By using increment mode flags, up to 64 data can be selected for a transfer cycle. The datum that is specified by P or by P1 and P2 is defined as the first datum in the data flow. If both increment flags are set, the following data are specified by first incrementing P1 up to the maximum value. Then P1 is reset to the minimum value and P2 is incremented. This continues until 64 data are transferred the data limit value which is optionally given in P3 is attained P1 attains the maximum value while P2 is at the maximum value. If only one increment flag is set, only the value of the associated parameter is incremented. The transfer is completed when the value of this parameter attains the maximum value. When texts are to be transferred, either the entire text string can be transferred (IM2 set) or only the start of a text if there is space for it in the data container (IM2 deleted). In increment mode, the end of the string is indicated by the ASCII character "NUL" (binary 0). Otherwise, the string is

66 2-56 PLC Interface Signals TRANS200 Interface Description limited (cut off) to the size of the data container. The end ID is in the container only if the string is shorter than the container size. Note: A transfer cycle consists of one or more single transfers. A transfer cycle is complete when the last datum that is defined by the object code has been transferred. The number of single transfers that belong to a transfer cycle results from the defined width of the data container used and the total amount (in words) of the data to be transferred according to the formula n = (number of data + container size - 1)/container size as an integer value (ignore decimals after the decimal point).

67 TRANS200 Interface Description PLC Interface Signals 2-57 The following object codes are available: Object designation [data type] D corrections (R/W) [LONG] NC variable (R/W) [LONG] ZO (R/W) IMPORTANT: Values of undefined axes are skipped in increment mode! [LONG] Sercos parameter (R/W) [LONG] Text of a diagnosis message (R) [BYTE] Text of a system fault (R) [BYTE] Current text of NC note (R) [BYTE] Current drive diagnosis text (R) [BYTE] CNC configuration (R) [LONG] NC block display (R) [BYTE] ID IM2 IM1 P3 P2 / P P1 6 ' ' Limit value Correction number (1-30): D1-D30 Component 0/1/2/3: L1/L2/L3/R 7 & ' Limit value 0 10 ' ' Limit value Data block: 0: Current offset (R) 1: G50 / G51 (R) 2: G52 (R) 3: General offset (R/W) 4-9: G54-G59 (R/W) 17 & & Drive address SERCOS ID number Axis: 0/1/2/3/4/5/6/7/8/9: X/Y/Z/U/V/W/A/B/C/P 18 ' & 0 0: Text of current diagnosis message 0xFFFF: Current error information (LONG) with subsequent text. 1-n: Text of diagnosis with number n 19 ' & 0 0: Text of current system fault 0xFFFF: Current error information (LONG) with subsequent text. 1-n: Text of system fault with number n 20 ' & ' & Drive address & ' 0 See "List of elements in object 25" 26 ' & 0 0-n: Block number 0xFFFF: Current block 0xFFFF: Next block R: Read access W: Write access [type]: BYTE: 8 bits WORD: 16 bits LONG:32 bits (also double-word) The type is important for storing the datum in the PLC memory map (see documentation of the IO Configurator of the WinTrans user interface). Fig. 2-20: List of object codes in the configurable data channel D corrections NC variable Zero offsets D corrections are available only if parameter B has been answered with "Yes". All available D correction values can be read and written. By setting flag IM1, a complete block (components L1, L2, L3 and R) can be read. By setting IM2, a defined component of several corrections can be read. By setting IM1 and IM2, all components of several corrections can be read. All NC variables are always available for reading and writing. By setting IM1, several sequential variables can be transferred in one cycle. Zero offsets are available for all configured linear and rotary axes. By setting flag IM1, a complete data block of axis offsets and turning angles (P) can be read or written. Unconfigured axes are skipped; they do not occupy any space in the data container. By setting IM2, the correction

68 2-58 PLC Interface Signals TRANS200 Interface Description values of an axis or the turning angle (P) of all data blocks can be transferred. By setting IM1 and IM2, several complete data blocks can be transferred. SERCOS parameters Text of a diagnosis message Text of a system fault Text of the current NC note Current drive diagnosis text All long-word (32-bit) drive and APR-SERCOS parameters can be read and written if they are present and if authorization exists. Parameter lists and texts are exempted. The ID number must be provided as a 16-bit value. Any diagnosis message can be read by providing the message number (current message number: data select 15, subselect 0). The current diagnosis message can be read by entering 0 instead of a message number. When 0xFFFF (-1) is entered, the current error information is also stored as the first long-word in the data container. This allows any wildcards (@n) in the message text to be removed (see "Additional Information in Error Information"). Writing access is not possible. By setting IM2, the entire text can be read in several single transfers; otherwise, only the first n characters are available (n: width of the data container in bytes). Any system fault can be read by providing the message number (current system fault number: data select 15, subselect 1). The current system fault message can be read by entering 0 instead of a system fault number. When 0xFFFF (-1) is entered, the current error information is also stored as the first long-word in the data container. This allows any wildcards (@n) in the message text to be removed (see "Additional Information in Error Information"). Writing access is not possible. By setting IM2, the entire text can be read in several single transfers; otherwise, only the first n characters are available (n: width of the data container in bytes). Any diagnosis message can be read by providing the message number (current message number: data select 15, subselect 0). The current diagnosis message can be read by entering 0 instead of a message number. Writing access is not possible. By setting IM2, the entire text can be read in several single transfers; otherwise, only the first n characters are available (n: width of the data container in bytes). The current diagnosis message of a drive in the SERCOS Ring can be read if it is in phase 2, 3 or 4. Writing access is not possible. By setting IM2, the entire text can be read in several single transfers; otherwise, only the first n characters are available (n: width of the data container in bytes).

69 TRANS200 Interface Description PLC Interface Signals 2-59 CNC configuration CNC configuration data consists of a list of long-words. The desired list element can be entered via the list index: Element Value Range Description 0 Bit code: 0: Axis address 1, 6: Axis address : 0 (reserved) 1-7 Bit code as in additional information "FDAXBZ": 0-3: Axis name (0/1/2/3/4/5/6/7/8/9/10/11: X/Y/Z/U/V/W/A/B/C/S1/S2/S3) 4/5: Axis index (1-3) 6/7: Axis type (0/1/2/3: undefined / linear / rotary / spindle) 8-31: 0 (reserved) 8 0 Reserved 9 Low Byte (Low Word): 0: Inch / 1: mm High Byte (Low Word): 4 or 5 places after the decimal point Low Byte (High Word): 0 (reserved) High Byte (High Word): 0 (reserved) Bit mask of the defined axes Axis definitions of axes 1-7 Basic programming unit for position data (parameter B00.001) and programmable places after the decimal point (parameter B00.002) Fig. 2-21: List of elements in object 25: CNC configuration NC block indication Any NC block of the active program can be read by providing the block number (current and next block number: data select 5, sub select 0). The current block can be read by entering 0xFFFF (-1) and the next block if present can be read by entering 0xFFFE (-2) instead of a block number. Writing access is not possible. By setting IM2, the entire block can be read in several single transfers; otherwise, only the first n characters are available (n: width of the data container in bytes). Definition of Multiplex Levels of the Read Channel If a level is accessed that is not described here, then a read error response is given. Data Selection 1: Read Actual Position of Axis The axis is called up by means of the subselection (0 -> Axis 1, 1 -> Axis 2, etc, 6 -> Axis 7. The position is written as a signed integer value with the resolution defined in the process parameters. The PLC has to take this into account in the display. It concerns the absolute position in machine coordinates. NPV is not taken into account. Note: Actual axis positions can be requested only for axes defined in the system parameters (from A00.032). Data Selection 2: Read Axis Velocity The axis is called up by means of the subselection (0 -> Axis 1, 1 -> Axis 2, etc, 6 -> Axis 7. Speeds are written as an integer value with one decimal point. The PLC has to take this into account in the display. The path velocity results from the square sum of the Cartesian axis speeds involved in the motion.

70 2-60 PLC Interface Signals TRANS200 Interface Description Note: Actual velocities can be requested only for axes defined in the system parameters (from A00.032). Data Selection 3: Read Axis Torque The axis is called up by means of the subselection (0 -> Axis 1, 1 -> Axis 2, etc, 6 -> Axis 7. The torque is displayed as a percentage of the nominal torque without decimal places. Note: Actual torques can be requested only for axes defined in the system parameters (from A00.032). Data Selection 4: Read Active G Codes The G codes are divided into 32 groups. In each group just one of the G codes allocated to the group can be effective. Each G code is reported by means of its number as a byte. G code groups that have not been defined (free groups) yield 1 (0xFF). Each subselection yields the active G codes from four groups: Subselect: 0: groups Subselect: 1: groups Subselect: 2: groups Subselect: 3: groups Subselect: 4: groups Subselect: 5: groups Subselect: 6: groups Subselect: 7: groups Data Selection 5: Read Number of Active NC Block Subselect 0: MSWord: current block number LSWord: next block number Data Selection 6: Read D Corrections D corrections are written as signed integer values with the resolution defined in the process parameters. Note: D corrections have to be enabled in the process parameters (B00.029) before they can be accessed. Subselect: 0: D1-L1 Subselect: 1: D1-L2 Subselect: 2: D1-L3 Subselect: 3: D1-R Subselect: 4: D2-L1 Subselect: 5: D2-L2 Subselect: 6: D2-L3 Subselect: 7: D2-R

71 TRANS200 Interface Description PLC Interface Signals 2-61 Data Selection 7: Read NC Variable An NC variable is read as a signed integer value. Decimal places are rounded to the nearest whole number. The number of the variables is called up via the subselection (0 1 - etc, 7 No other variables can be read. Data Selection 8: Read Override Override values are identified as percentage values without decimal places. The feed and spindle override for all spindles is addressed via subselection 0 as follows: LSWord: MSByte: Feed override LSByte: Override of spindle S / S1 MSword: MSByte: Override of spindle S2 LSByte: Override of spindle S3 Note: If no axes are defined, the spindle override is always read as "0". Data Selection 9: Read General Zero Data Offset data are written as signed integer values with the resolution defined in the process parameters. Subselect: 0: Offset in X direction Subselect: 1: Offset in Y direction Subselect: 2: Offset in Z direction Subselect: 3: Offset in U / A direction Subselect: 4: Offset in V / B direction Subselect: 5: Offset in W / C direction Subselect: 6: free Subselect: 7: Turning angle P Note: Sub selections 3, 4 and 5 can be used to preferentially address the first axis meaning to be entered. If both axis meanings (e.g. V and B) are defined, the offset for the axis with the 2 nd meaning (e.g. B) can not be addressed. Data Selection 10: Read G54 Zero Data Offset data are written as signed integer values with the resolution defined in the process parameters. Subselect: 0: Offset in X direction Subselect: 1: Offset in Y direction Subselect: 2: Offset in Z direction Subselect: 3: Offset in U / A direction Subselect: 4: Offset in V / B direction Subselect: 5: Offset in W / C direction Subselect: 6: free

72 2-62 PLC Interface Signals TRANS200 Interface Description Subselect: 7: Turning angle P Note: Subselections 3, 4 and 5 can be used to preferentially address the first axis meaning to be entered. If both axis meanings (e.g. V and B) are defined, the offset for the axis with the 2 nd meaning (e.g. B) can not be addressed. Data Selection 12: Read Object for a Read Channel The subselection is used to select the object channel. Data Selection 13: Read Object for a Write Channel The subselection is used to select the object channel. Data Selection 14: Read Object Data The subselection is used to select the object channel. Data Selection 15: Diagnoses Subselect 0: MSword: Process error, code LSWord: Process error, additional information Subselect: 1 MSword: System error, code LSWord: System error, additional information Subselect: 7 MSword: MUX error, code LSWord: MUX error, additional information A distinction is made between process and system diagnosis. If a system error exists, the process diagnosis has the value for "System error pending" (Error code: 22). Process and system diagnoses are not canceled by the reading procedure. They are described in the documentation for TRANS200 (or for MTC200). Errors occurring in connection with a multiplex writing procedure can be read via subselection 7. Reading clears the error register. It is only possible to read the most recent write error in each case. If no new write error has occurred since the last reading procedure, the value 0 is returned. Each diagnosis is 32 bits wide and is divided into 16 bits for the report itself and a further 16 bits for the additional information. The highest valued 4 bits of the additional information define the type of additional information.

73 TRANS200 Interface Description PLC Interface Signals 2-63 Definition of Multiplex Levels of the Write Channel As far as is possible and meaningful, the levels for the write channel are divided in the same way as those for the read channel. If a level is accessed that is not described here, then an error response is given. Data Selection 1: Set Absolute Dimension The axis is called up by means of the subselection (0 -> Axis 1, 1 -> Axis 2, etc, 6 -> Axis 7. The position is written as an integer value in the drive resolution. The PLC has to take this into account in indicating the position. Procedure: The position is accepted in SERCOS parameter S Then the command P (set absolute dimension) is issued. If at this point no controller enable signal has been set, the position immediately becomes effective. If the controller enable is set (drive in control), the position is accepted, but becomes effective only when the controller enable is cleared or a G74 block is executed, or else the axis control bit AxCHOME "Single axis homing" is set for this axis. Note: The absolute dimension can only be set for axes defined in the system parameters (from A00.032). Data Selection 6: D Corrections D corrections are written as signed integer values with the resolution defined in the process parameters. Note: D corrections have to be enabled in the process parameters (B00.029) before they can be accessed. Subselect: 0: D1-L1 Subselect: 1: D1-L2 Subselect: 2: D1-L3 Subselect: 3: D1-R Subselect: 4: D2-L1 Subselect: 5: D2-L2 Subselect: 6: D2-L3 Subselect: 7: D2-R Data Selection 7: NC Variable NC variables are transferred as signed integer values. Decimal places are always 0. The number of the variables is called up via the subselection (0 1 - etc, 7 No other variables can be written.

74 2-64 PLC Interface Signals TRANS200 Interface Description Data Selection 8: Override Override values are identified as percentage values without decimal places. The feed and spindle override for all spindles is addressed via subselection 0 as follows: LSWord: MSByte: Feed override LSByte: Override of spindle S / S1 MSword: MSByte: Override of spindle S2 LSByte: Override of spindle S3 Note: An override value of -1 (all bits set) is ignored by the control. This also allows individual override values to be written. Data Selection 9: Write General Zero Data Offset data are written as signed integer values with the resolution defined in the process parameters. Subselect: 0: Offset in X direction Subselect: 1: Offset in Y direction Subselect: 2: Offset in Z direction Subselect: 3: Offset in U / A direction Subselect: 4: Offset in V / B direction Subselect: 5: Offset in W / C direction Subselect: 6: free Subselect: 7: Turning angle P Note: Subselections 3, 4 and 5 can be used to preferentially address the first axis meaning to be entered. If both axis meanings (e.g. V and B) are defined, the offset for the axis with the 2 nd meaning (e.g. B) can not be addressed. Data Selection 10: Write G54 Zero Data Offset data are written as signed integer values with the resolution defined in the process parameters. Subselect: 0: Offset in X direction Subselect: 1: Offset in Y direction Subselect: 2: Offset in Z direction Subselect: 3: Offset in U / A direction Subselect: 4: Offset in V / B direction Subselect: 5: Offset in W / C direction Subselect: 6: free Subselect: 7: Turning angle P

75 TRANS200 Interface Description PLC Interface Signals 2-65 Note: Subselections 3, 4 and 5 can be used to preferentially address the first axis meaning to be entered. If both axis meanings (e.g. V and B) are defined, the offset for the axis with the 2 nd meaning (e.g. B) can not be addressed. Data Selection 12: Write Object for a Read Channel The subselection is used to select the object channel. No check takes place. Data Selection 13: Write Object for a Write Channel The subselection is used to select the object channel. No check takes place. Data Selection 14: Write Object Data The subselection is used to select the object channel. Error handling General information Read Write If a request cannot be executed successfully, then the selected level is not reflected on acknowledgment with the toggle bit; instead, the multiplex error level is reflected (data selection 15: subselection 7). In the event of read access, the error information is immediately made available in the read data container. This error information cannot be requested explicitly. In the event of write access, the error information is deposited in an internal error memory. After an error has occurred the information can be read by a read request on the multiplex error level. When the error has been read the error memory is cleared. Note: If a new error occurs during write access before the error information for the previous error has been read, then the earlier information will be lost. Only information for the most recent write error is stored. Multiplex Errors 0: No error The last request has been executed successfully. 1: Invalid data selection The input data selection is not defined. 2: Invalid sub selection The input subselection is not defined. 3: The request has been changed during execution The data selection, subselection or toggle bit has been changed before a request has been acknowledged. Note: The execution itself has, however, been carried out without error.

76 2-66 PLC Interface Signals TRANS200 Interface Description 4: Timeout while a request is being executed The system has detected that the time provided for processing a request has been exceeded. Its execution has been canceled. Note: This error occurs when requests from the multiplex channel handler do not receive a punctual response from the CNC. 5: Errors in executing a request A general error has occurred in executing a request. Note: This report occurs if a command cannot be executed successfully. This usually means there has been a problem in accessing via the SERCOS non-cyclical data channel. 6: Invalid axis The axis preselected via the subselection has not been created in the process parameters. 7: No Acknowledge (NAK) (internal error) The internal transfer channel to the CNC is reporting an error. The error code for the channel is deposited in the additional information under "FDNUM". The error code is written in "TXERRCAJ.H". 8: Access to data denied Access to this data is not currently permitted. Example: The override cannot be written if the machine is being controlled by means of an external control panel (operation panel / jogging axis screen in the WinTrans MT-CNC user interface). 9: Attempt to write to write-protected data An attempt is made to modify write-protected data. 10: Invalid object identification An undefined object ID was set for an object read or write channel. 11: Invalid object parameters Invalid object parameters (P1 / P2 / P3 / IM1 / IM2) were provided for an object read or write channel. 14: Error while accessing drive data An error occurred during communication with a drive. The error is specified further in the additional information in format "FDNUM": 0xE8 Transfer error 0xE9 Drive does not exist The addressed drive is not in the SERCOS Ring 0xEA Cancellation of transfer of non-cyclical data The control can cancel an external transfer if the channel is required for internal, high-priority purposes. 0xEC Axis processor not initialized 15: An object data request interrupts another object data request. The interrupted request is reset. This error can occur if an incremental transfer

77 TRANS200 Interface Description PLC Interface Signals 2-67 of object data was not completed and another request has already been started. Additional Information in the Error Information All error information contains a word with additional information. The highvalue 4 bit of this word determines the meaning of this additional information: 1. For pure diagnosis displays (example: 'NOT READY'): FDNOINF %0000 no additional diagnosis information 2. Enter machine address (X=0, Y, Z, U, V, W, A, B, C, S1, S2, S3, I, J, K, M, Q, E, T, S, G, F, D): FDMADR %0001 display mask for axis name 3. Enter process number in bit 8-10 (0=M, 1=1, 2=2 etc., 6=6, 7=0!!!): FDPROZ %0010 display process number 4. Enter process number as above, event number in bit 0-7 (example.: 'M:21' ): FDEVENT %0011 process number and event number 5. The number entered in bit 0-10 is displayed in the diagnosis text: FDNUM %0100 display number in bit A RECO number and a SLOT number are transferred as a value: FDSLOT %0101 display for Reco No. and slot No. 7. Bit 0-3 axis designation, Bit 4-5 axis index, Bit 6-7 axis type: FDAXBZ %0110 axis designation with axis index 8. Additional information can be requested by telegram: FDEXT %1000 additional information available

78 2-68 PLC Interface Signals TRANS200 Interface Description

79 TRANS200 Interface Description V21 Function Blocks V21 Function Blocks 3.1 Description of DFB Two data function blocks (DFB) have been developed to filter out the coded information stored in the multiplex channel. The first DFB reads data (MUX_Read) while the second block allows data to be written (MUX_Write). The combination of data and subselection forms the target address for the data to be read and written. This coded address is stored in the control word. Information concerning which read and write task was last carried out by TRANS200 is in the status word. Many messages concerning the status of the control, the drives and the multiplex channel itself have diverse additional information. These cannot be decoded with Mux_Read or Mux_Write. An additional function block (Extra_Inf) is available for this. Rexroth Indramat currently offers function blocks for three PLCs and supports two bus systems with TRANS200. Schneider Electric TSX Premium with Interbus Allen Bradley Logix5550 with ControlNet (ControlLogix system) Rexroth Indramat ISP200-R-G2 with Interbus DFBs for the Schneider Electric TSX Premium The DFBs for this PLC were produced with PL7 Pro. The function block file names are MUX_Read.DFB and MUX_Write.DFB. They can be imported as DFB types into any project by means of the PL7 Pro programming interface. These DFBs can be used as often as required in the program by means of the instance generating function. MUX_Read Inputs Fig. 3-1 shows the DFB MUX_Read in the form of a ladder diagram. PL7 Pro allows only 8 characters for designating variables in the DFBs. The meaning of the abbreviated names of variables is given below. Enable: Enable has to be HIGH so that the DFB can be executed Activate: Activate s change in status from LOW to HIGH activates the block. A read request is accepted by the block and transmitted to TRANS200. Datasel: The required data selection must be entered here. Subsel: The required subselection must be entered here. Mx_dat_I: The multiplex channel data input must be connected here. Mux_stat: The status word sent by the TRANS200 must be entered here. Mux_ctrl: The control word that is transmitted to the TRANS200 is entered here. Mx_dat_o: The multiplex data to be sent must be entered here. If Mux_Write is not used, no multiplex data are sent. In this case, a zero should be entered at this input. Datasel, Subsel, Mx_dat_I, Mux_stat, Mux_ctrl: also see Section 2.4 Multiplex Channels.

80 3-2 V21 Function Blocks TRANS200 Interface Description MUX_Read Outputs Valid: Becomes HIGH as soon as the result of the read request is ready. Valid remains HIGH until the next read request is started by a renewed edge from Activate. Active: Active remains HIGH as long as a read request is being executed by the DFB. Error: Error becomes HIGH as soon as an error is detected during the read request. Error remains HIGH until Enable is LOW. Errorcod: For some errors, the TRANS200 issues an error code message. In the event of an error this code is stored here. Data: Following a successful read procedure, the requested data are made ready here. Mux_ctrl: The control word that is transmitted to the TRANS200 is entered here (see Section 2.4: Multiplex Channels). Mx_dat_o: The multiplex data to be sent must be entered here. If Mux_Write is not used, no multiplex data are sent. In this case, the output does not have to be assigned. Fig. 3-1: DFB Mux_Read PL7 Pro TSX Premium - Mux_Read.tif

81 TRANS200 Interface Description V21 Function Blocks 3-3 MUX_Write Inputs Fig. 3-2 shows the DFB MUX_Write in the form of a ladder diagram. PL7 Pro allows only 8 characters for designating variables in the DFBs. The meaning of the abbreviated names of variables is given below. Enable: Enable has to be HIGH so that the DFB can be executed Activate: Activate s change in status from LOW to HIGH activates the block. A read request is accepted by the block and transmitted to TRANS200. Datasel: The required data selection must be entered here. Subsel: The required subselection must be entered here. Data: The values that are to be sent to the TRANS200 must be entered here. Mux_stat: The status word sent by the TRANS200 must be entered here. Mux_ctrl: The control word that is transmitted to the TRANS200 is entered here. Mx_dat_o: The multiplex channel data output must be connected here. Datasel, Subsel, Data, Mux_stat, Mux_ctrl: also see Section 2.4: Multiplex Channels. MUX_Write Outputs Valid: Becomes HIGH as soon as the data to be written has been successfully transmitted. Valid remains HIGH until the next write request is started by a renewed edge from Activate. Active: Active remains HIGH as long as a write request is being executed by the DFB. Error: Error becomes HIGH as soon as an error is detected during the write request (e.g. if incorrect data and/or subselection are requested). Error remains HIGH until Enable is LOW. Note that information concerning the errors that occur during a write request is not supplied with the information that an error has occurred. To obtain this information, you must start a read request with data selection=15 and subselection=7 immediately after the error is detected. This provides additional information that can be evaluated with DFB "Extra_Inf". Errorcod: For some errors, the TRANS200 issues an error code message. In the event of an error this code is stored here. Mux_ctrl: The control word that is transmitted to the TRANS200 is entered here (see Section 2.4: Multiplex Channels). Mx_dat_o: The multiplex channel data output must be connected here.

82 3-4 V21 Function Blocks TRANS200 Interface Description Fig. 3-2: DFB Mux_Write PL7 Pro TSX Premium - Mux_Write.tif

83 TRANS200 Interface Description V21 Function Blocks 3-5 Extra_Inf Inputs Fig. 3-3 shows the DFB Extra_Inf in the form of a ladder diagram. PL7 Pro allows only 8 characters for designating variables in the DFBs. The meaning of the abbreviated names of variables is given below. DFB Extra_Inf provides information in addition to that from Mux_Read and Mux_Write. Enable: Enable has to be HIGH so that the DFB can be executed Activate: Activate s change in status from LOW to HIGH activates the block. A request is received and processed by the function block. Mx_dat_I: The multiplex channel data input must be connected here. Mux_stat: The status word sent by the TRANS200 must be entered here. Mx_dat_I, Mux_stat: also see Section 2.4: Multiplex Channels. Extra_Inf Outputs Valid: Becomes HIGH as soon as the data have been extracted. Valid remains HIGH until the next request is started by a renewed edge from Activate. Active: Active remains HIGH as long as processing by the DFB takes place. Error: Error becomes HIGH as soon as an error is detected during the write request. Error remains HIGH until Enable is LOW. More detailed information regarding the detected error can be found in Errorcod. Errorcod: If the block detects an error, Error is set and decimal-coded information concerning the type of error is stored in Errorcod. Errorcod=0 : No error Errorcod=1 : Input "Activate" was set at the same time as or before "Enable". Please set "Enable" first and then "Activate". Errorcod=2 : The status word did not contain any diagnosis types (process, system, multiplex diagnosis type) that could be evaluated. Check whether the status word that was pending at the time of activation of the block is correct. Pnum: Only in connection with process control. There is only one process in the TRANS200. The number of the requested process appears here only if another process was addressed. Check your NC program. The information at this output is ASCII-coded. Mnum: Only in connection with M functions. The information at this output is ASCII-coded. Enum: Displays event numbers. This value is available at the output in decimal form. Slotnum: Displays the slot number. This value is output in decimal form. Num: Certain information includes additional numbers. This information is available at the output in decimal form. Ameaning: In the case of messages concerning a certain axis (@), the axis designation for this axis is entered here. The information at this output is ASCII-coded. Aindex: Axis designations can be provided with an axis index of 1, 2 or 3 (e.g. S1, X2,..., Z3). If a message concerns such an axis, its index is output here. The information at this output is ASCII-coded.

84 3-6 V21 Function Blocks TRANS200 Interface Description Atype: If a message concerns an axis, its type is output at this output in decimal code. Atype=0 : no message with information regarding the axis type Atype=1 : linear axis Atype=2 : rotary axis Atype=3 : spindle Diagtyp: The currently active diagnosis type is provided here in decimal code. Diagtyp=0 : diagnosis not active Diagtyp=1 : process diagnosis active Diagtyp=2 : system diagnosis active Diagtyp=3 : multiplex diagnosis active D_selec: Every multiplex channel request requires the entry of a data selection. If a data selection is entered which the TRANS200 cannot use, function block Mux_Read or Mux_Write sets the output "Error". Then DFB Extra_Inf can be used to evaluate which incorrect data selection was entered. This information can then be read at this output. S_selec: Every multiplex channel request requires the entry of a subselection. If a subselection is entered which the TRANS200 cannot use, function block Mux_Read or Mux_Write sets the output "Error". Then DFB Extra_Inf can be used to evaluate which incorrect data selection was entered. This information can then be read at this output. D_selec, S_selec: also see Section 2.4: Multiplex Channels.

85 TRANS200 Interface Description V21 Function Blocks 3-7 Fig. 3-3: DFB Extra_Inf PL7 Pro TSX Premium - Extra_inf.tif

86 3-8 V21 Function Blocks TRANS200 Interface Description DFBs for Allen Bradley RSLogix5550 Programming was carried out using RSLogix5000. The function blocks were generated as subroutines Mux_Read and Mux_Write. They must be assigned values when they are called. They return values after they have been processed. An example is given in Fig. 3-4 for calling the MUX_READ subroutine with the transfer and return of variables. MUX_Read Inputs The meanings of the MUX_Read variable names are given below. Start_Read: Changing the status from LOW to HIGH activates the block. A read request is accepted by the block and transmitted to TRANS200. Enable_Read: Enable has to be HIGH so that the DFB can be executed. Data_Selection_Read: The required data selection must be entered here. Sub_Selection_Read: The required subselection must be entered here. Mux_Control_In_Read: The control word that is transmitted to the TRANS200 is entered here. Mux_Status_Read: The status word sent by the TRANS200 must be entered here. Mux_Data_High_Read: The multiplex channel data input high word must be connected here. Mux_Data_Low_Read: The multiplex channel data input low word must be connected here. Data_Selection_Read, Sub_Selection_Read, Mux_Control_In_Read, Mux_Status_Read, Mux_Data_High_Read, Mux_Data_Low_Read: also see Section 2.4: Multiplex Channels. MUX_Read Outputs Valid_Read: Becomes HIGH as soon as the result of the read request is ready. Valid remains HIGH until the next read request is started by a renewed edge from Activate. Function_Active_Read: Remains HIGH as long as a read request is being executed by the DFB. Result_High_Read: Following a successful read procedure, the high word for the requested data is provided here. Result_Low_Read: Following a successful read procedure, the low word for the requested data is provided here. Error_Read: Becomes HIGH as soon as an error is detected during the read request. Error_Read remains HIGH until Enable is LOW. Error_Code_High_Read: For some errors, the TRANS200 issues an error code message. In the event of an error the highword for this code is stored here. Error_Code_Low_Read: For some errors, the TRANS200 issues an error code message. In the event of an error this code is stored here. Mux_Control_Out_Read: The control word that is transmitted to the TRANS200 is entered here (see Section 2.4: Multiplex Channels).

87 TRANS200 Interface Description V21 Function Blocks 3-9 Allen Breadley Muxaufruf read.tif Fig. 3-4: MUX_READ transfer and return of variables Allen Bradley An example is given in Fig. 3-5 for calling up the MUX_Write subroutine with the transfer and return of variables. MUX_Write Inputs The meanings of the MUX_Write variable names are given below. Start_Write: Changing the status from LOW to HIGH activates the block. A read request is accepted by the block and transmitted to TRANS200. Enable_Write: Enable has to be HIGH so that the DFB can be executed. Data_Selection_Write: The required data selection must be entered here. Sub_Selection_Write: The required subselection must be entered here. Data_High_Write: The multiplex channel data input high word must be connected here. Data_Low_Write: The multiplex channel data input low word must be connected here. Mux_Control_In_Write: The control word that is transmitted to the TRANS200 is entered here. Mux_Status_Write: The status word sent by the TRANS200 must be entered here. Data_Selection_Write, Sub_Selection_Write, Data_High_Write, Data_Low_Write, Mux_Control_In_Write, Mux_Status_Write: also see Section 2.4: Multiplex Channels.

88 3-10 V21 Function Blocks TRANS200 Interface Description MUX_Write Outputs Valid_Write: Becomes HIGH as soon as the result of the read request is ready. Valid remains HIGH until the next read request is started by a renewed edge from Activate. Function_Active_Write: Remains HIGH as long as a read request is being executed by the DFB. Error_Write: Becomes HIGH as soon as an error is detected during the read request. Error_Read remains HIGH until Enable is LOW. Error_Code_High_Write: For some errors, the TRANS200 issues an error code message. In the event of an error the highword for this code is stored here. Error_Code_Low_Write: For some errors, the TRANS200 issues an error code message. In the event of an error this code is stored here. Mux_Control_Out_Write: The control word that is transmitted to the TRANS200 is entered here (see Section 2.4: Multiplex Channels). Mux_Data_High_Write: The high word for the multiplex channel data output must be connected here. Mux_Data_Low_Write: The low word for the multiplex channel data output must be connected here. Allen Breadley Muxaufruf write.tif Fig. 3-5: MUX_WRITE transfer and return of variables Allen Bradley

89 TRANS200 Interface Description V21 Function Blocks 3-11 DFBs for the Rexroth Indramat ISP200-R-G2 The DFBs for this PLC were produced with WinPCL. The filenames for the function blocks are "FB MUX_READ.txt" and "FB MUX_WRITE.txt". These can be imported into any project as function blocks by means of the WinPCL programming interface. MUX_Read Inputs Fig. 3-6 shows the DFB MUX_Read in WinPCL in the form of a ladder diagram with the corresponding data types. The meaning of the names of variables is given below. Enable: Enable has to be HIGH so that the DFB can be executed Activate: Changing the status from LOW to HIGH activates the block. A read request is accepted by the block and transmitted to TRANS200. Dataselection: The required data selection must be entered here. Subselection: The required subselection must be entered here. Controlword_In: The control word that is transmitted to the TRANS200 is entered here. Statusword: The status word sent by the TRANS200 must be entered here. Mux_Data_In: The multiplex channel data input must be connected here. Dataselection, Subselection, Controlword_In, Statusword, Mux_Data_In: also see Section 2.4: Multiplex Channels. MUX_Read Outputs Valid: Becomes HIGH as soon as the result of the read request is ready. Valid remains HIGH until the next read request is started by a renewed edge from Activate. Active: Active remains HIGH as long as a read request is being executed by the DFB. Error: Error becomes HIGH as soon as an error is detected during the read request. Error remains HIGH until Enable is LOW. Errorcode: For some errors, the TRANS200 issues an error code message. In the event of an error this code is stored here. Controlword_Out: The control word that is transmitted to the TRANS200 is entered here (see Section 2.4: Multiplex Channels). Readed_Data: Following a successful read procedure, the requested data are made ready here.

90 3-12 V21 Function Blocks TRANS200 Interface Description Fig. 3-6: MUX_READ WinPCL MUX_Write Inputs WinPCL - Mux_Read.tif Fig. 3-7 shows the DFB MUX_Write in WinPCL in the form of a ladder diagram with the corresponding data types. The meaning of the names of variables is given below. Enable: Enable has to be HIGH so that the DFB can be executed Activate: Changing the status from LOW to HIGH activates the block. A read request is accepted by the block and transmitted to TRANS200. Dataselection: The required data selection must be entered here. Subselection: The required subselection must be entered here. Controlword_In: The control word that is transmitted to the TRANS200 is entered here. Statusword: The status word sent by the TRANS200 must be entered here. To_Write_Data: The values that are to be sent to the TRANS200 must be entered here. Dataselection, Subselection, Controlword_In, Statusword, To_Write_Data: also see Section 2.4: Multiplex Channels. MUX_Write Outputs Valid: Becomes HIGH as soon as the data to be written has been successfully transmitted. Valid remains HIGH until the next write request is started by a renewed edge from Activate. Active: Active remains HIGH as long as a write request is being executed by the DFB. Error: Error becomes HIGH as soon as an error is detected during the write request. Error remains HIGH until Enable is LOW. Errorcode: For some errors, the TRANS200 issues an error code message. In the event of an error this code is stored here. Controlword_Out: The control word that is transmitted to the TRANS200 is entered here (see Section 2.4: Multiplex Channels). Mux_Data_Out: The multiplex channel data output must be connected here.

91 TRANS200 Interface Description V21 Function Blocks 3-13 Fig. 3-7: MUX_WRITE WinPCL WinPCL - Mux_Write.tif

92 3-14 V21 Function Blocks TRANS200 Interface Description

93 TRANS200 Interface Description V22 Function Blocks V22 Function Blocks Note: To improve your comprehension of the following information, we recommend that you first read Section 2.4: Multiplex Channels. 4.1 Introduction 4.2 General Section 2.4: Multiplex Channels provides a detailed description of the possibilities, structure and use of multiplex channels. The function blocks (FB) explained in this chapter take on the data handling explained there on the PLC side. There are two FBs. 1. Mux-Write: Data can be written using this FB 2. Mux-Read: Data can be read using this FB 4.3 Description of Mux-Write Each of the two FBs can be used in two stages. The first is compatible to the old function blocks. Here, only the data and subselections are used for addressing (see Section 2.4: Multiplex Channels - Definition of Multiplex Levels). The second stage offers a significantly broader range of functions. Here, up to 16 independent sequential channels can be additionally configured and used to read and write data. Using Mux-Write, data are written from the PLC to the TRANS200. IOs Mux-Write There are five different types of inputs and outputs. 1. BOOL: Differentiation is made only between high and low 2. DWORD: A double-word 3. Word table (fixed): A word array with a specified size 4. Word table: A word array whose size is specified in limits 5. Double-word table (fixed): A double-word array with a specified size IOs required for stage 1 (described above) have a gray background in the following.

94 4-2 V22 Function Blocks TRANS200 Interface Description Mux-Write Inputs Short description Type Description Enable BOOL High switches the FB on. Low switches it off. Activate BOOL An edge from low to high activates a write procedure. Datsub Word table (fixed) Word 0=data selection; word 1=subselection Data Word table (2-128) Data that are to be written to the TRANS200. Mx_dat_i Word table (2-14) Multiplex channel input data: The size of the word array that is used here must be identical with the total data width set in the WinTrans field bus configurator! Please note that entries in the field bus configurator are made in bytes while the array is defined in words here! Mx_dat_o Word table (2-14) Multiplex channel output data: The size of the word array that is used here must be identical with the total data width set in the WinTrans field bus configurator! Please note that entries in the field bus configurator are made in bytes while the array is defined in words here! Mxconfig Word table (fixed) Channel configuration - word 0=object ID; word 1=P3; word 2=P2; word 3=P1; IM1 BOOL High: increment mode1=on; low: increment mode1=off IM2 BOOL High: increment mode2=on; low: increment mode2=off Fig. 4-1: Mux-Write inputs Mux-Write Outputs Short description Type Description Valid BOOL High when machining is complete. Low when machining is running. Active BOOL High: machining is running; low: no machining is active Error BOOL High as soon as an error is detected; low: no error detected Errorcod DWORD; There is an error code for every error here. Detailed information about every error code can be found in the "Error Code Table" at the end of this chapter. Channel Double-word table (fixed) Contains channel configuration information. Mux-Read has an input with the same short description. This Mux-Read input and the Mux-Write output with the same name must access the same memories! Fig. 4-2: Mux-Write outputs

95 TRANS200 Interface Description V22 Function Blocks 4-3 Fig. 4-3: Mux-Write ladder diagram mux_write2.jpg

96 4-4 V22 Function Blocks TRANS200 Interface Description 4.4 Description of Mux-Read Using Mux-Read, data from the TRANS200 are read with the PLC. IOs Mux-Read There are five different types of inputs and outputs. 1. BOOL: Differentiation is made only between high and low 2. DWORD: A double-word 3. Word table (fixed): A word array with a specified size 4. Word table: A word array whose size is specified in limits 5. Double-word table (fixed): A double-word array with a specified size IOs required for stage 1 (described above) have a gray background in the following. Mux-Read inputs Short description Type Description Enable BOOL High switches the FB on. Low switches it off. Activate BOOL An edge from low to high activates a read procedure. Datsub Word table (fixed) Word 0=data selection; word 1=subselection Mx_dat_i Word table (2-14) Multiplex channel input data: The size of the word array that is used here must be identical with the total data width set in the WinTrans field bus configurator! Please note that entries in the field bus configurator are made in bytes while the array is defined in words here! Mx_dat_o Word table (2-14) Multiplex channel output data: The size of the word array that is used here must be identical with the total data width set in the WinTrans field bus configurator! Please note that entries in the field bus configurator are made in bytes while the array is defined in words here! Result_o Word table (0-128) All results are stored here. Fig. 4-4: Mux-Read inputs Mux-Read Outputs Short description Type Description Valid BOOL High when machining is complete. Low when machining is running. Active BOOL High: machining is running; low: no machining is active Error BOOL High as soon as an error is detected; low: no error detected Errorcod DWORD; There is an error code for every error here. Detailed information about every error code can be found in the "Error Code Table" at the end of this chapter. Channel Double word table (fixed) Contains channel configuration information. Mux-Write has an output with the same short description. This Mux-Write output and the Mux-Read input with the same name must access the same memories! Fig. 4-5: Mux-Read outputs

97 TRANS200 Interface Description V22 Function Blocks 4-5 Fig. 4-6: Mux-Read ladder diagram mux_read2.jpg

98 4-6 V22 Function Blocks TRANS200 Interface Description 4.5 Overview of Mux-Write Functions Each of the two FBs can be used in two stages. The first is compatible to the old function blocks. Here, only the data and subselections are used for addressing (see Section 2.4: Multiplex Channels - Definition of Multiplex Levels). The second stage offers a significantly broader range of functions. Here, up to 16 independent sequential channels can be additionally configured and used to read and write data. The following table, which elucidates the important differences between the two stages, is provided to help you decide whether simple use (stage 1) of the FB is sufficient or whether you need to use the extended possibilities (stage 2). Object Stage 1 (simple) Stage 2 (extended) D corrections 2 All (30) NC variables 7 All (80) Zero points general X, Y, Z, U/A*, V/B*, W/C*, turning angle X, Y, Z, U, V, W, A, B, C, turning angle Zero points G54 X, Y, Z, U/A*, V/B*, W/C*, turning angle X, Y, Z, U, V, W, A, B, C, turning angle Zero points G55-G X, Y, Z, U, V, W, A, B, C, turning angle SERCOS parameters All Process diagnosis text Only one code that is uniquely assigned to the text is transferred System diagnosis text Only one code that is uniquely assigned to the text is transferred Transfer of the text as a string Transfer of the text as a string Current NC note text Transfer of the text as a string Current drive diagnosis - text Transfer of the text as a string NC block indication - text Transfer of the text as a string CNC configuration Yes *: The axis meaning which was entered first is addressed preferentially. If both axis meanings are defined, the offset for the axis with the 2 nd meaning can not be addressed. Fig. 4-7: Differences between stage 1 (simple) and stage 2 (extended)

99 TRANS200 Interface Description V22 Function Blocks Mux-Write Operation: Using Stage 1 (Simple) As has already been explained in Section 2.4 Multiplex Channels, various data can be written via the multiplex channel where the target of the data to be written is defined using the data and subselections. Procedure First, switch on the FB by setting input "Enable" on High. Note: "Enable" must always be set before "Activate"! An error also occurs if both values are set simultaneously. "Mx_dat_i" and "Mx_dat_o" must be connected with the corresponding field bus IOs. The desired data selection (word 0) and subselection (word 1) are provided at FB input "Datsub". The value that is to be sent must be entered in word 0 of FB input "Data". Now "Activate" can be set to High, which starts the writing procedure. If no error is displayed, the change of status of output "Valid" from Low to High is the confirmation that the desired datum has been written. 4.7 Mux-Write Operation: Using Stage 2 (Extended) Configuration - Sequential Write Channels With the second stage, you can use all the possibilities of the FB, including all the options of stage 1. Channels must be configured for this! 16 sequential channels can be configured, 8 to read data and 8 to write data. Mux-Write is used to configure the read and write channels. First, switch on the Mux-Write FB by setting input "Enable" on High. Note: "Enable" must always be set before "Activate"! An error also occurs if both values are set simultaneously. "Mx_dat_i" and "Mx_dat_o" must be connected with the corresponding field bus IOs. 13 is entered as the data selection (word 0) at FB input "Datsub". The desired subselection (word 1) is provided at FB input "Datsub". The subselection provides the channel (0-7) that you will configure. For input "Mxconfig", assign IM2 and IM1 according to the following table: Increment mode 2 (IM2) increments P2 Increment mode 1 (IM1) increments P1

100 4-8 V22 Function Blocks TRANS200 Interface Description Write channel configuration table Mxconfig Word 0 Word 1 Word 2 Word 3 Object designation ID P3 P2 P1 IM2 IM1 Zero offset D corrections 6 Limit value1-64 Correction number 1-30: D1-D30 Component: 0/1/2/3: L1/L2/L3/R NC variables 7 Limit value IMPORTANT: Values of undefined axes are skipped in increment mode! 10 Limit value1-64 Data block: 3: General offset 4: G54 5: G55 6: G56 7: G57 8: G58 9: G59 SERCOS parameters 17 Drive address: 1-7 Axis: 0: X 1: Y 2: Z 3: U 4: V 5: W 6: A 7: B 8: C 9: P 0 Sercos ID number: : Can be used : Cannot be used Fig. 4-8: Mux-Write assignment of inputs Mxconfig, IM2 and IM1 to configure sequential write channels Explanation of Configuration If you increment, P1 or the combination of P1 and P2 forms the starting value. Limit value P3 is the number of values that are to be transferred, including the starting value. For example, ID=6, P3=5, P2=3, P1=1 means that 5 (P3) D corrections (ID) are to be transferred, starting at D3-L2 (P2-P1). The following D corrections are written according to the selected increment mode. If only IM2 is active, only P2 is incremented. Thus, the following is written: D3-L2; D4-L2; D5-L2; D6-L2; D7-L2 If only IM1 is active, only P1 is incremented. Thus, the following is written: D3-L2; D3-L3; D3-R; D3-L2; D3-L3 If IM2 and IM1 are active, P2 and P1 are incremented. Thus, the following is written: D3-L2; D3-L3; D3-R; D4-L1; D4-L2 Note: Each increment mode has limits according to the selected object. If these are exceeded, the process begins again at the start value. Incrementation continues to take place until the value corresponds to P3 (see the example above where only IM1 is active). Now "Activate" can be set to High, which starts the writing procedure. If no error is displayed, the change of status of output "Valid" from Low to High is the confirmation that the desired datum has been written.

101 TRANS200 Interface Description V22 Function Blocks 4-9 Configuration - Sequential Read Channels First, switch on the Mux-Write FB by setting input "Enable" on High. Note: "Enable" must always be set before "Activate"! An error also occurs if both values are set simultaneously. "Mx_dat_i" and "Mx_dat_o" must be connected with the corresponding field bus IOs. 12 is entered as the data selection (word 0) at FB input "Datsub". The desired subselection (word 1) is provided at FB input "Datsub". The subselection provides the channel (0-7) that you will configure. For input "Mxconfig", assign IM2 and IM1 according to the following table: Increment mode 2 (IM2) increments P2 Increment mode 1 (IM1) increments P1 Increment mode 1 (IM1) is not used for objects with which text is transferred. Increment mode 2 (IM2) indicates whether the complete text is to be transferred or only as much text as can be transferred in one request (see the example below). If all Mux-Read input parameters have been entered according to the following table, "Activate" can be set to High, which starts the reading procedure. If no error is displayed, the change of status of output "Valid" from Low to High is the confirmation that all desired data have been read.

102 4-10 V22 Function Blocks TRANS200 Interface Description Read channel configuration table Mxconfig Word 0 Word 1 Word 2 Word 3 Object designation ID P3 P2 P1 IM2 IM1 D corrections 6 Limit value1-64 Correction number 1-30: D1-D30 Component: 0/1/2/3: L1/L2/L3/R NC variables 7 Limit value Zero offset IMPORTANT: Values of undefined axes are skipped in increment mode! 10 Limit value1-64 Data block: 0: Current offset 1: G50/G51 2: G52 3: General offset 4: G54 5: G55 6: G56 7: G57 8: G58 9: G59 Sercos Parameter 17 Drive address: 1-7 Process diagnosis messages (text) System error messages (text) Axis: 0: X 1: Y 2: Z 3: U 4: V 5: W 6: A 7: B 8: C 9: P 0 Sercos ID number: : Current process diagnosis message with error number and extra info in first double word 0: Current process diagnosis message 1-n: Text of process diagnosis message with number n : Current system error message 1-n: Text of system error message with number n Current NC note (text) Current drive diagnosis (text) 24 Drive add-ress CNC configuration See "List of elements in object 25" NC block indication (text) n: Block number 0xFFFF: Current block 0xFFFE: Next block : Can be used : Cannot be used Fig. 4-9: Mux-Write assignment of inputs Mxconfig, IM2 and IM1

103 TRANS200 Interface Description V22 Function Blocks 4-11 P1 Description of which results are supplied for which P1 value 0 Query of which axes are defined 1: Axis name, axis index and axis type of axis 1 2: Axis name, axis index and axis type of axis 2 3: Axis name, axis index and axis type of axis 3 4: Axis name, axis index and axis type of axis 4 5: Axis name, axis index and axis type of axis 5 6: Axis name, axis index and axis type of axis 6 7: Axis name, axis index and axis type of axis 7 8: Not used 9: Basic programming unit for position data (parameter B00.001) and programmable places after the decimal point (parameter B00.002) Fig. 4-10: List of elements in object 25 Explanation of Configuration As was explained above, the configuration of read channels differs depending on whether texts are to be read or not. Channel not for text (ID=6, 7, 10, 17, 25) If you increment and no text is requested, P1 or the combination of P1 and P2 forms the starting value. Limit value P3 is the number of values that are to be transferred, including the starting value. For example, ID=10, P3=6, P2=5, P1=7 means that 6 (P3) zero offsets (ID) are to be transferred, starting at G55 (P2) for axis B (P1) (G55-B). The subsequent zero offsets are read according to the selected increment mode. If only IM2 is active, only P2 is incremented. Thus, the following is read: G55-B; G56-B; G57-B; G58-B; G59-B; G55-B If only IM1 is active, only P1 is incremented. Thus, the following is read: G55-B; G55-C; G55-P; G55-B; G55-C; G55-P If IM2 and IM1 are active, P2 and P1 are incremented. Thus, the following is read: G55-B; G55-C; G55-P; G56-X; G56-Y; G56-Z Note: Each increment mode has limits according to the selected object. If these are exceeded, the process begins again at the start value. Incrementation continues to take place until the value corresponds to P3 (see the example above where only IM1 or only IM2 is active). Channel for text (ID=18, 19, 20, 24, 26) IM1 is not used when text is requested Increment mode 2 (IM2) indicates whether the complete text is to be transferred or only as much text as can be transferred in one request (depending on the defined channel width). Example 1: ID=18, P1=2, IM2=High means that the text for the process diagnosis message (ID) with number 2 (P1) is to be completely (IM2) transferred. The transferred text is: "Power enablement blocked"

104 4-12 V22 Function Blocks TRANS200 Interface Description Example 2: ID=18, P1=2, IM2=Low means that the text for the process diagnosis message (ID) with number 2 (P1) is to be transferred according to the channel width (IM2). As many characters are transferred as fit in the channel in the case of a request. Example A: Channel width of 21 bytes (= 21 characters). The text will be: "Power enablement bloc"! Example B: Channel width of 4 bytes (= 4 characters): The text will be: "Powe" 4.8 Checking the Channel Configuration If the configuration of a channel is to be checked, pertaining information can be requested from the TRANS200. For this, 12 or 13 (read or write channel) must be entered under data selection on the Mux-Read. As the subselection (0-7), the channel whose current configuration is to be investigated is selected. This information is available at Mux-Read output "Result_o" after Activate is set. 4.9 Use/Application of Preconfigured Channels If write and/or read channels are configured, the data can be accessed as follows according to the channel configuration. If a configured channel is to be used, the data selection is always 14. The subselection indicates which channel is used. Write channels are used with Mux-Write, read channels with Mux-Read. Note: Only two channels can be used simultaneously. One of these must be a read channel and one a write channel. Neither two or more write channels nor two or more read channels can be used. Fig. 4-11: Write and read channels Channels.jpeg