1.2 General information on the Easy Automation Library (EAL)

Transcription

1 1 Introduction 1.1 Version information Library : EAL.dll Version : General information on the Easy Automation Library (EAL) Objective The Easy Automation Library is a.net 2.0 library file, which contains the defined interfaces and implemented classes to operate with Drive. User can use this library and can write program to operate more than one drive. This makes user to use Pc directly instead of a controller. 1.3 Working of the Easy Automation Library Fig 1: Drives connected directly to the PC The drives are being connected to the PC. And the EAL addresses the drives by its IP address. The EAL is developed over SiP library, which helps in reading and writing parameters of a drive. Page 1 of 26

2 2 How to use EAL The below steps need to be carried out to use the library and to create an application. Create new console application in the Visual studio 2005: Step 1: Open Visual studio application Open Visual studio application Step 2: Create new project Click on File->New Project as shown in the below image Fig 2: Creating new project Step 3: Choose console application Select the Windows Console application as shown in the below image and click OK Fig 3: Selecting console application Step 4: Solution explorer Make sure that solution explorer is present on the visual studio by clicking on menu option View Other Windows > Solution Explorer Page 2 of 26

3 Fig 4: Opening Solution explorer Step 5: add reference Add libraries to the project. - Right click on References in the project explorer. - Click on Add references. Fig 5: Adding references Select Browse tab in the Add reference window as shown in the below image, select Easy Automation Library dlls folder, select the below dlls and click OK: - EAL.dll - log4net.dll - SiP.dll Page 3 of 26

4 Fig 6: Selecting libraries from the folder Page 4 of 26

5 3 EAL architecture Fig 7: EAL architecture The EAL contains the two packages: - SiP ( SiP.dll ) - Responsible for reading and writing parameters - Easy Automation Library( EAL.dll ) - Provides access to most of the features of a drive. 3.1 SiP library package This library provides option to read and write parameter values of a drive. This SiP library accepts values only in the form of array of bytes. SiP meant for Sercos internet protocol. 3.2 Easy Automation Library package Fig 8: Easy Automation Library package This library holds classes and interfaces to access the features of an Axis. EAL contains three parts: Interfaces, Implementations and ParameterReadWrite. Interfaces: Holds all the required interfaces. Ex: IAxis, IMovement interface Implementations: Holds all implementation classes Ex: Axis class Page 5 of 26

6 3.2.1 IEALConnecion interface EALConnection holds all properties and methods for Logic, Motion, System and Parameter features. EALConnection class provides below methods: Name void Connect(string ipaddress) void Connect(string ipaddress, uint leasetimeout) void Connect(string ipaddress, uint leasetimeout, uint busytimeout) void Connect(string ipaddress, Method Explanation Establishes the connection between PC and the drive. The lease timeout, busy timeout and max delay will be taken default values. Default value of lease timeout is 10000, default value of busy timeout is 2000, default value of Max delay is 500 Establishes the connection between PC and the drive. The lease time out is taken from the given value, and busy timeout and max delay will be taken default values. Default value of busy timeout is 2000, Default value of Max delay is 500 Establishes the connection between PC and the actual drive. The lease time out and busy timeout are taken from given values, and max delay will be taken default value. Default value of Max delay is 500 Establishes the connection between PC an Page 6 of 26

7 uint leasetimeout, uint busytimeout, u int maxdelay) void Disconnect() void Initialize() void Initialize(bool rebootafterinitia lise, int timeout) void Initialize(FunctionPackage functi onpackage) void Initialize(FunctionPackage functi onpackage, bool rebootafterinitialise, int timeout) void Wait(int time) void WaitDone(IEALConnection ealconnec tion) void WaitUntilQueueComplete() d the actual drive. Disconnects the connection with the real dr ive Initializes the axis settings with default setti ng. Selects ClosedLoop functional packag e, reboots if required after initialisation and with time out ms Initializes the axis settings with default func tional package(closed loop) and given reb oot-after-initialise and timeout Initializes the axis settings with given functi on package and default default reboot after initialize flag and timeout value. So selects reboots if required after initialisation and w ith time out ms Initializes the axis with given functional pac kage, reboot after initialize flag and timeout Waits for the given time This ealconnection will wait until, the given ealconnection compleates execution, until this method is called. Waits until queue completes Page 7 of 26

8 3.2.2 IAxis interface definition Fig 9: IAxis interface Page 8 of 26

9 Defines all necessary properties and methods of a real Axis. Properties: Name DataType Read/Write Drive Parameter Explanation AxisRef AxisRef Read -- ConnectionDet IConnectionDet Read -- Holds Connection details ails ails InVelocity bool Read P Flag which indicates, bit0 whether axis is in velocity or not IsTorqueHighL imitactive IsVelocityHig hlimitactive IsVelocityLow LevelWaring bool Read P bit5 bool Read P bit1 bool Read P bit3 Flag which indicates, whether torque high limit is active or not Flag which indicates, whether velocity high limit active or not Flag which indicates velocity low level warning. Movement IMovement Read -- Movement property, holds all movement related met hods Parameter IParameter Read - Hold all parameter read/ write methods ProcessContro l IProcessContro l Read - Process control property, which holds all properties and methods which are related to Process control. Page 9 of 26

10 Methods: Name void ClearError() void Disconnect() double GetAccelerationLimitBip() double GetActualAcceleration() double GetActualPosition() double GetActualTorque() double GetActualVelocity() short GetAxisType() AxisCondition GetCondition() int GetDiagnosisNumber() string GetDiagnosisText() double GetInterpolatedPosition() double GetInterpolatedTorque() double GetInterpolatedVelocity() double GetJerkLimitBip() double GetModulo() string GetName() double GetPositionLimitNeg() double GetPositionLimitPos() double GetSlaveDriveFeedTravel() int GetState() int GetStateExtended() double GetTorqueLimitBip() double GetVelocityLimiNeg() double GetVelocityLimPos() void LoadDefaultParameters() void Reboot(int timeout) Method Explanation Clears the error Disconnects the connection with the re al drive Gets bipolar acceleration limit Gets actual acceleration Gets actual position Gets actual torque Gets actual velocity Gets the axis condition Gets diagnosis number Gets diagnosis text Get bipolar jerk limit Gets the modulo value Gets the name Get negative position limit Get positive position limit Gets axis state Gets bipolar torque limit Gets negative velocity limit Gets positive velocity limit Loads default parameter Reboots the axis void SetAccelerationLimitBip(double accele Sets bipolar acceleration limits rationlimit) void SetCondition(AxisCondition condition) Sets condition void SetJerkLimitBip(double jerklimit) void SetModulo(double modulo) void SetName(string name) Sets bipolar jerk limit Sets the new modulo value Sets name void SetPositionLimitNeg(double positionli Sets negative position limit mit) void SetPositionLimitPos(double positionli Sets positive position limit mit) void SetSlaveDriveFeedTravel(double feedtr avel) void SetTorqueLimitBip(double torquelimit) Sets bipolar torque limit void SetVelocityLimitNeg(double velocityli mit) void SetVelocityLimitPos(double velocityli mit) Sets negative velocity limit Sets positive velocity limit Page 10 of 26

11 Sample to access the Axis features: IEALConnection ealconnection = new EALConnection(); ealconnection.connect(" ", false, 10000, 2000, 500); IAxis axis = ealconnection.motion.axes[0]; IApplication interface Application object can be accessed using ealconnection object. Ex: IApplication application = ealconnection1.logic.applications[0]; This interface provides basic operations for application. Methods GetFirmware GetFirmwareFile GetFirmwareFilename() GetFirmwareFilename(string firmware) SetFirmware Description Gets the firmware name Gets the firmware from drive and stores in the given destination file location. Gets the name of the file stored in the drive. Gets the name of the file for the given firmware. Sets new firmware to drive from the source file. Page 11 of 26

12 3.2.4 ISystem interface ISystem interface provides methods to read and write system properties. System object can be accessed using ealconnection object as shown below example: EX: ISystem system = ealconnection1.system; IFirmwareManagement interface This interface defines the methods required for getting firmware file from a drive and for setting new firmware to a drive. The methods and its description are listed in the below table: Methods GetFirmware GetFirmwareFile GetFirmwareFilename() GetFirmwareFilename(string firmware) SetFirmware Description Gets the firmware name Gets the firmware from drive and stores in the given destination file location. Gets the name of the file stored in the drive. Gets the name of the file for the given firmware. Sets new firmware to drive from the source file. Page 12 of 26

13 The events of IFirmwareManagement are listed in the below table: Events OnDataTransfer OnError OnFinish Description Triggers after transferring every packet of data. Triggers, when there is an error. Triggers, when after completion of transfer. The EAL library implements the IFirmwareManagement interface and provides access to the features as below: IEALConnection ealconnection = new EALConnection(false); ealconnection.connect(" "); IFirmwareManagement fwmngmt = ealconnection.system.firmwaremanagement; IMovement interface: Fig 10: IMovement interface This interface defines the movement related methods. Methods: Name void CamIn(ref AxisRef masteraxis, int numerator, int denominator, double fi neadjust, double camshaftdistance, Syn cdirection syncmode, StartMode StartMo de, CamTableId camid) void FlexProfile(ref AxisRef masteraxi s, int numerator, int denominator, dou ble fineadjust, int setselection, bool useswitchingpos, double switchingposi tion, ProfileStartPoint profileentry, double masteroffset, double slaveoffse t, SyncType syncmode, double syncveloc ity, double syncacceleration, ProfileE xecutionmode executionmode) void GearIn(ref AxisRef masteraxis, in t numerator, int denominator, double f Method Explanation Page 13 of 26

14 ineadjust) void GearInPos(ref AxisRef masteraxis, int numerator, int denominator, doubl e fineadjust, StartMode StartMode, Syn cdirection syncmode) void Home() void MoveAbsolute(double position, dou ble velocity, double acceleration, dou ble deceleration, double jerk) void MoveAdditive(double distance, dou ble velocity, double acceleration, dou ble deceleration, double jerk) void MoveRelative(double distance, dou ble velocity, double acceleration, dou ble deceleration, double jerk) void MoveVelocity(double velocity, dou ble acceleration, double deceleration, short jerk) void OpenCyclicAnalogChannel() void OpenCyclicPositionChannel() void OpenCyclicTorqueChannel() void OpenCyclicVelocityChannel() void Phasing(double phaseshift, double velocity, double acceleration, double deceleration) void PhasingSlave(double phaseshift, d ouble velocity, double acceleration, d ouble deceleration) void Power(bool value) void SetAbsoluteMeasurement() MotionStatus Status() void Stop(bool stop, double decelerati on, double jerk) void SynchronOut() void TorqueControl(double torque, doub le torqueramp) void Wait(int timeout) void WriteCyclicAnalog(double cyclicva lue) void WriteCyclicPosition(double cyclic Value) void WriteCyclicTorque(double cyclicva lue) void WriteCyclicVelocity(double cyclic Value) Moves to homing position Moves axis to given absolute position Moves axis additive from the current target Moves axis relative distance from the curre nt position Moves axis in specific velocity Powers on or off Sets absolute measurement Stops the axis immediately with given dece leration Runs motor at given torque Waits until movement completes Page 14 of 26

15 3.2.6 IParameter interface Fig11: IParameter interface Defines all parameter related methods Methods: Name void Command(string idn) object ReadAttribute(string idn) object ReadData(string idn) string ReadDataAsString(string idn) bool ReadDataStatus(string idn) ParameterListLength ReadListLength(str ing idn) object ReadMaximum(string idn) object ReadMinimum(string idn) string ReadName(string idn) string ReadUnit(string idn) void WriteData(object data, string idn ) Method Explanation Executes the given command parameter Reads attribute of the given parameter Reads data of the given parameter Reads data as string of the given parameter Reads data status of the given parameter Reads the List lenght details of the given parameter idn. Reads maximum value of the given parameter idn Reads minimum value of the given parameter idn Reads the name of the given parameter idn Reads the unit of the given parameter idn Writes the given data to given parameter idn Connection state enum Fig 13: ConnectionState enum This enum holds the type of connection states. The types are explained in the below table Name Connected Disconnected ErrorState Explanation Represents whether axis object connected to a drive or not Represents whether axis object is disconnected or not. Represents whether axis object in error state or not. Page 15 of 26

16 3.2.8 IProcessControl interface Fig 13 IProcessControl interface Defines all necessary properties and methods for process control. Properties Name DataType Read/ Configuration IConfiguratio n IsCommandValu ereached IsOutputHLAct ive IsOutputLLAct ive IsProcessCont rolerror Write Drive Parameter Explanation Read -- Hold all configuration properties of Process control. bool Read Axis.InVelo city for PC. P bit1 for FC bool Read P bit2 bool Read P bit3 bool Read P bit4 IsPump01On bool Read P bit2 IsPump02On bool Read P bit0 for PC. P bit2 for FC. Flag to indicate, whether given command value is reached or not Flag which indicates, whetehr higher limit of output is active or not Flag which indicates, whether lower limit of output is active or not Flag which indicates, whether any error in the process controller. True, if any error, else false. Flag which indicates, pump 01 is on or not Flag which indicates, pump 02 is on or not Page 16 of 26

17 Methods: Name void FlowrateControl(double flowratecm dvalue) int GetActiveParameterSetNumber() double GetActualFlowrate() double GetActualPressure() void Initialize(string mldprojectparfi le) void PressureControl(double pressurecm dvalue) Method Explanation Executes flowarate control for the given command value. Gets active parameter set number Gets actual flow rate Gets actual pressure Initializes the process control in the axis. Loads the MLD project and reboots Executes pressure control for the given command value IConfiguration interface Fig 14 IConfiguration interface Defines all required configuration for process control Properties Name DataType Read/ Write Drive Paramet er Explanation FlowrateUnit Unit Read/Write -- Flow rate unit. Stores locally and will be used to calculate fl owrate command. InjectionPhaseA ctive MaxFlowrateValu e NominalFlowrate Value NominalPressure Value bool Read/Write P bit8 Injection phase active flag Stores locally and will be set, when PressureControl or FlowrateControl method called. double Read/Write -- Maximum flow rate value Stores locally and will be set, when PressureControl or FlowrateControl method called. double Read/Write -- Nominal Flowrate value. Stor es locally and will be used to calculate flowrate command, when FlowrateCommand call ed. double Read/Write -- Nominal pressure value. Stor es locally and will be used to calculate pressure command value, when PressureComma Page 17 of 26

18 ParameterSetNo int Read/Write Sets to bit 15 &14 of P Reads from stored value nd called. Parameter set number Stores locally and will be set, when PressureControl or FlowrateControl method called. PressureUnit Unit Read/Write -- Pressure uint. Stores locally a nd will be used to calculate pr essure command value. PumpOn bool Read/Write P bit2 Pump on flag Stores locally and will be set, when PressureControl or FlowrateControl method called. VolumePump01 double Read/Write P Pump 01 volume Stores locally and will be set, when PressureControl or FlowrateControl method called. VolumePump02 double Read/Write P Volume pump 02 Stores locally and will be set, when PressureControl or FlowrateControl method called Unit enum Fig 14 Unit enum Represents type of unit. Properties Name Explanation Absolute Represents absolute command value. Percentage Represents percentage command value. 3.3 Multi axes support EAL library also support multi axes as show in the below sample code: To access the motion functionalities: - ealconnection.motion.axes[1].axis.movement.movevelocity(500, 100, 100, 0); - ealconnection.motion.axes[1].movement.moveabsolute(0, 400, 100, 100, 0); To access the parameter functionalities: - ealconnection.parameter.axes[1].writedata(200, "S "); To access the System functionalities: - ealconnection.system.axes[1].settargetmode(systemmode.systemmode_p2); Page 18 of 26

19 4 Sample code using the EAL. 4.1 How to create a EAL connection object Creating single axis object: using (IEALConnection ealconnection = new EALConnection ()) ealconnection.connect(" "); Creating more than one EAL connection object: using (IEALConnection ealconnection1 = new EALConnection ()) ealconnection1.connect(" "); using (IEALConnection ealconnection2 = new EALConnection ()) ealconnection2.connect(" "); 4.2 How to read/write parameter Sample code to read/write value of the parameters: Synchronous method: private static void TestProgram() using (IEALConnection ealconnection1 = new EALConnection ()) ealconnection1.connect(" "); double val1 = (double) ealconnection1.parameter.readdata("s "); // Reading parameter ealconnection1.parameter.writedata((ushort)2, "P "); // Writing parameter Asynchronous method private static void TestProgram() using (IEALConnection ealconnection1 = new EALConnection (true)) ealconnection1.connect(" "); // Connect task will be added to queue ealconnection1.waituntilqueuecomplete(); // Waits for all task of queue to be executed double val1 = (double) ealconnection1.parameter.readdata("s "); // Reads parameter ealconnection1.parameter.writedata((ushort)2, "P "); // Write parameter task will be added to queue ealconnection1.waituntilqueuecomplete(); // Waits for all task of queue to be executed Page 19 of 26

20 4.3 How to check the Axis Status Sample code to read and write the status of the Axis: 4.4 Other sample codes Sample code to read or write motion limit values Synchronous method: using (IEALConnection ealconnection1 = new EALConnection(true)) ealconnection1.connect(" "); IAxis axis1 = ealconnection1.motion.axes[0]; ealconnection1.waituntilqueuecomplete(); AxisCondition axiscondition = axis1.getcondition(); if (axiscondition == AxisCondition.AXIS_CONDITION_ACTIVE_PARAMETERIZATION) axis1.setcondition(axiscondition.axis_condition_active); ealconnection1.waituntilqueuecomplete(); private static void TestProgram() using (IEALConnection ealconnection1 = new EALConnection(true)) ealconnection1.connect(" "); // Connects IAxis axis1 = ealconnection1.motion.axes[0]; // Waits until queue completes ealconnection1.waituntilqueuecomplete(); // Adds to queue to write bipolar jerk limit limit double val1 = axis1.getaccelerationlimitbip(); // Adds to queue to write bipolar acceleration limit axis1.setaccelerationlimitbip(100); // Waits until queue completes ealconnection1.waituntilqueuecomplete(); Asynchronous method: private static void TestProgram() using (IEALConnection ealconnection1 = new EALConnection(true)) ealconnection1.connect(" "); // Adds to queue to write bipolar jerk limit limit IAxis axis = ealconnection1.motion.axes[0]; double val1 = axis.getaccelerationlimitbip(); // Adds to queue to write bipolar acceleration limit axis.setaccelerationlimitbip(100); Page 20 of 26

21 Reading actual velocity: Synchronous method: private static void TestProgram() using (IEALConnection ealconnection1 = new EALConnection ()) ealconnection1.connect(" "); IAxis axis1 = ealconnection1.motion.axes[0]; // Reading the actual velocity of the motor double actualvalue1 = axis1.getactualvelocity(); Asynchronous method: private static void TestProgram() using (IEALConnection ealconnection1 = new EALConnection (true)) ealconnection1.connect(" "); // Connect task will be added to queue // Waits until queue completes ealconnection1.waituntilqueuecomplete(); IAxis axis1 = ealconnection1.motion.axes[0]; // Reading the actual velocity of the motor double actualvalue1 = axis1.getactualvelocity(); Sample to execute MoveAbsolute: using (IEALConnection ealconnection = new EALConnection()) ealconnection.connect(" ", false, 10000, 2000, 500); // Eatablishes connection // Gets axis object IAxis axis = ealconnection.motion.axes[0]; axis.movement.power(false); // Powers-off axis.setcondition(axiscondition.axis_condition_active_parameterization); ealconnection.initialize(); axis.setcondition(axiscondition.axis_condition_active); axis.movement.power(true); // Powers on axis.movement.home(); // Executes Homing axis.movement.moveabsolute(0, 400, 100, 100, 0); axis.movement.wait(10000); axis.movement.moveabsolute(10000, 400, 100, 100, 0); axis.movement.wait(10000); double actualposition = axis.getactualposition(); Sample to download firmware: IEALConnection ealconnection = new EALConnection(false); ealconnection.connect(" "); ealconnection.motion.axes[0].setcondition(axiscondition.axis_condition_active_para METERIZATION); ealconnection.system.firmwaremanagement.setfirmware(@"d:\fwa-indrv_-mpb-17v08- D5.ibf"); ealconnection.disconnect(); Page 21 of 26

22 5 Asynchronously executing implementation 5.1 Understanding implementation of Queue: Fig 15: Application with two drives The individual axis object will be having its own task queue object. This queue holds all the tasks which need to be executed one by one. And each axis object will be having a thread, which dequeues task from the queue and executes one by one. Only writing value will be added into the queue. The reading will always be synchronous. In the shown image, all the writing values will be added to the queue. And reading value will be read directly. Page 22 of 26

23 5.2 Understanding implementation of asynchronous call There are two EALConnection objects in the above sample code. Each ealconnection object has one thread and one queue. The queue is responsible for holding the tasks to be executed and thread monitors, weather any task is added to the list or not. If any task present, then it dequeues and executes. Fig 16: EALCOnnection object with the task queue object and the thread. The advantage of executing different drive tasks in the different threads is, it will execute the tasks parallel. 01. axis1.setcondition(axiscondition.axis_condition_active_parameterization); // Adds queue1 02. axis2.setcondition(axiscondition.axis_condition_active_parameterization); // Adds queue2 03. axis1.setpositionlimitpos(20000); // Adds queue1 04. axis2.setpositionlimitpos(20000); // Adds queue2 05. axis1.setpositionlimitneg(20000); // Adds queue1 06. axis2.setpositionlimitneg(20000); // Adds queue2 07. axis1.setcondition(axiscondition.axis_condition_active); // Adds queue1 08. axis2.setcondition(axiscondition.axis_condition_active); // Adds queue2 09. axis1.movement.power(true); // Adds queue1 10. axis2.movement.power(true); // Adds queue2 11. axis1.movement.movevelocity(200, 100, 100, 0); // Adds queue1 12. axis2.movement.movevelocity(100, 100, 100, 0); // Adds queue2 13. ealconnection1.wait(50000); // Adds queue1 14. ealconnection1.wait(50000); // Adds queue2 15. axis1.movement.movevelocity(0, 100, 100, 0); // Adds queue1 16. axis2.movement.movevelocity(0, 100, 100, 0); // Adds queue2 After one second: From axis1: Lines 01, 03, 05, 07, 09,11 will be executed and line 13 will be executing. From axis2: Lines 02, 04, 06, 08, 10, 12 will be executed and line 14 will be executing. After two seconds: From axis1: Line 13 will be executing From axis2: Line 14 will be executing After three seconds: From axis1: Line 13 will be executing From axis2: Line 14 will be executing After fifty seconds: From axis1: Line 15 will be executed completely and program gets completed. From axis2: Line 16 will be executed completely and program gets completed. The above sample code execution shoes, that asynchronous execution help in executing tasks of more one drive parallel. Page 23 of 26

24 6 Drive Tool 6.1 Purpose of implementation The intension of developing the Drive tool (PC based software tool) is to prove and check the EAL performance. It also guides the end users to implement customized GUI applications based on their specific requirements. 6.2 Implantation details Drive Tool is implemented on two programming environments 1. Visual Studio.Net 2. LabVIEW Both the packages are provided separately. 6.3 Launching Dive Tool 6.4 GUI Drive tool can be launched by clicking on DriveTool.exe from any package(.net or LabVIEW). Drive tool GUI developed with.net technology is as follows Fig 17: GUI for.net Sample application Page 24 of 26

25 Drive tool GUI developed with LabVIEW technology is as follows Fig 18: GUI for LabVIEW Sample application Drive tool GUI developed with MATLAB technology is as follows Page 25 of 26

26 Fig 19: GUI for MATLAB Sample application 6.5 Supported Operations Both the applications support the following operations. 1. Browse the available drives 2. Connection/Disconnection with the Drive using IP address over Ethernet. 3. Power Control. 4. Mode selection (Operational mode and Parameter Mode). 5. Rebooting the drive. 6. Homing the drive. 7. Initializing the drive. 8. Clearing Errors. 9. Reading Power status of the drive, State, Firmware details, Mode of operation. 10. Reading Motor Velocity, Position and torque. 11. Selecting the mode of operation. 12. Set the desired velocity, Position and torque. Page 26 of 26