Advantys FTB and IcIA compact drives at Premium on CANopen System User Guide [source code]

Transcription

1 Advantys FTB and IcIA compact drives at Premium on CANopen System User Guide [source code]

2 Contents Application example Source code...3 Typical applications...4 Architecture...5 Installation...7 Hardware...8 Software...13 Communication...14 Implementation...16 Setting the device parameters on the CANopen bus...18 Implementing CANopen bus...20 PLC implementation...27 Operating behavior...33 Appendix...34 Detailed components list...34 Contact...35 Introduction This document is intended to provide a quick introduction to the described System. It is not intended to replace any specific product documentation. On the contrary, it offers additional information to the product documentation, for installing, configuring and starting up the system. A detailed functional description or the specification for a specific user application is not part of this document. Nevertheless, the document outlines some typical applications where the system might be implemented. Schneider Electric 2

3 Abbreviations Word/Expression PLC HMI PC V AC V DC PS I/O Premium Unity (Pro) Sycon Phaseo Advantys FTB IclA IFA, IFS, IFE Explanation Programmable Logic Controller Human Machine Interface Personal Computer Alternating Current Direct Current Power Supply Input/Output Name of a Schneider Electric PLC Name of Schneider Electric PLC programming software Name of Schneider Electric fieldbus programming software Name of a Schneider Electric range of power supply units Name of Schneider Electric I/O modules Names of Berger Lahr compact drives Application example Source code Introduction Examples of the source code used to attain the system function as described in this document can be downloaded from our Village website under this link. General The example software includes a Sycon project for configuring the CANopen bus and a Unity Pro project for the PLC. Please note: The Sycon project is set up for immediate use with V2.8 of the Sycon software. The Unity project is an import file, which can be opened by selecting "Open" from the File" menu and the file type *.xef. Schneider Electric 3

4 Typical applications Introduction The following chapter describes some typical applications or partial applications for this system. Application Description Example IclA IFA compact drive servo motor The drives are used in core processes of production machines such as handling machines, packaging machines, printers or in medical engineering. Properties: High dynamic response, High peak torque, High-resolution encoder IclA IFE - compact drive EC-Motor IclA IFS compact drive stepping motor Example: Automated process between extracting a CD/DVD from the injection molding machine and the finished coated CD/DVD. The compact drives are used for format adjustment in production machines, e.g. in packaging, printing, woodworking or metal processing. Properties: High current-free latching torque Quasi-absolute encoder Example: Here the settings are automated, starting with the pressure rollers, then the baffle and lastly the folding mechanism, when the IclA is set up. The positioning drives are used in equipment engineering, for example circuit board production or medical engineering. They can also be used as auxiliary drives in packaging machines, printing machines and woodworking or metalworking machines. Properties: Accurate positioning, Very low synchronization variations, High continuous static torque Example: When used together with a camera, IclA IFS is responsible for the fully automatic precise positioning of PCBs. Schneider Electric 4

5 Architecture Overview The system consists of a PLC that controls various compact drives depending on the I/O signals. For example the compact drives (IFE, IFA and IFS) can be controlled. The I/O modules used are Advantys FTB modules, the number of which can be selected according to requirements. The example project has provision for one I/O module for each drive, with twelve inputs and four outputs. Since the compact drives have protection class IP54 and the Advantys FTB has protection class IP67, the devices can be installed directly on site. The total application, except for the PLC, is supplied with 24 V DC provided by power supply units connected to the AC mains. When using power supply units, make sure that the supply for the compact drives is separate from the supply to the other devices as the compact drives provide energy recovery during deceleration and the voltage in the DC circuit may increase. It may also be necessary to use a power supply unit, which is able to cope with the generated energy. The PLC, compact drives and I/O modules communicate via the CANopen bus. Layout Schneider Electric 5

6 Components Hardware: TSX Premium (PLC) Phaseo (2x 24 V power supply) IclA (type depends on the application) Advantys FTB (I/O module IP 67) Software: Unity Pro (PLC) Sycon System Configurator 2.8 Note The Phaseo power supply unit is not able to cope with the generated energy. You must therefore check every application thoroughly to see whether regenerative feedback can occur and, if so, that there is a sufficient number of consumers on the DC side. Schneider Electric 6

7 Installation Introduction This chapter describes how to install the hardware and set up the software for the task associated with the following applications: Layout Note Each of the compact motors is controlled separately by the PLC. Control depends on the input signals from the IP67 protected I/O modules (Advantys FTB). The outputs from these modules are used to indicate various operating states of the motors and/or to control additional equipment. Note: If the motor control signals do not come directly from the process, the inputs can consist of switches and buttons. The motor state output can be in the form of signal lamps. If remote control is not needed the PLC can also be connected to a HMI device that controls the drive. Schneider Electric 7

8 Hardware General The power supply unit needs to be mounted on a top-hat rail. The compact drives and FTB modules can be secured to the machine, in the immediate vicinity of the process. The PLC and main switch can be fastened directly to a mounting plate. A 230 V AC cable is used between the master switch, power supply and the PLC. The 24 V DC cable is used between the power supply, compact motors and Advantys FTB. Because of the regenerative feedback from the compact drives they must have their own power supply which may also have to be regenerative. A CANopen cable must be used between the PLC, the compact motors and the FTB modules. Components VCF-02GE main switch ABL7RE2403 / ABL7RE2410 power supply unit Continued on next page Schneider Electric 8

9 Components, continued TLX Premium PLC TLX P M Premium power supply TSX PSY Display LEDs 1 Eject button for PCMCIA card 2 Terminal port (TER) 5 Slot for a memory expansion card (PCMCIA) 6 Slot for a communication card (PCMCIA) 8 RJ45 connector for Ethernet connection 9 USB port 10 RESET button Premium CANopen TSX CPP 110 Continued on next page Schneider Electric 9

10 Components, continued IclA compact drive IclA compact drive 1 Motor 2 Brake (optional) 3 Encoder 4 Electronic housing 5 Cable glands with strain relief 6 Signal connector module 7 DIP switches for settings 8 Electronic housing cover, not to be removed 9 Connector housing cover, to be removed for installation 10 Cover with industrial socket connection for DC supply and field bus IN/OUT connection 11 Electrical interfaces Continued on next page Schneider Electric 10

11 Components, continued Compact drive connections 1 Power supply 2 Profibus DP field bus interface 3 CAN or RS485 field bus interface 4 24 V signal interface Power supply unit connections Pin Signal Meaning 1 V DC 24/35 V DC supply voltage 2 GND GND for supply voltage, connected internally to GND of CAN, RS485 and 24 V signal interface Continued on next page Schneider Electric 11

12 Components, continued CANopen bus connection Pin Signal Meaning Signal type 3 CANH CAN interface I/O 6 CANL CAN interface I/O 4 GND Connected internally to the power supply GND Advantys FTB Power supply and bus connection Schneider Electric 12

13 Software General You will need to install the Unity Pro programming software for the Premium PLC and the Sycon software for configuring the CANopen bus. The following installation requirements apply in respect of all the software packages: Operating system: Free hard disk memory: User memory: Processor: Interfaces: Additional software: Windows 2000 (SP1 minimum) or Windows XP At least 2.4 GB, 4.4 GB recommended At least 512 MB, 1024 MB recommended Pentium III with 800 MHz minimum, 1.2 GHz recommended Serial interfaces as a minimum, USB recommended in addition Internet Explorer 5.5 or higher Schneider Electric 13

14 Communication General CANopen is used for communication between the individual devices, namely the PLC, compact drives and Advantys FTB I/O modules. For that CANopen cabling is used between the PLC, compact drives and Advantys FTB. Preassembled connecting cables containing wires for the power supply and for the CANopen bus are available for the compact drives. Premium PLC TSX P M The UNY XCA USB 033 connection cable is used for the connection between the PC s USB interfaces (Unity Pro) and the PLC. Alternatively, a serial connection (PC <-> TER or AUX) can be established using cable TSX PCX 1031 (switch position "0"). The TSX CPP 110 CANopen interface card (1) is inserted into the second slot for PCMCIA cards on the Premium CPU. The bus that comes out of this card ends in a connector (2) for the outgoing CANopen bus. The connector is mounted on a top-hat rail and has a 9-pin SubD socket. Schneider Electric 14

15 Compact drive Advantys FTB The compact drives are connected using preassembled cables (separate IclA IFX cables for the power supply and the bus), which are plugged into the terminals provided in the drive. The other side has provision for the lines for the CANopen bus with 9-pin sub D connectors, which can accordingly be plugged into the bus line together. The lines for the power supply must be connected to the 24 V supply. The FTXCN3210 cable is used for the connection. Note: Provided that two FTBs are directly connected to one another, the cables can be used as they are. If, however, the connection is to the PLC or the compact drive, one of the connectors must be removed and replaced with a 9-pin sub D connector. Schneider Electric 15

16 Implementation Introduction This chapter describes how to initialize, parameterize, program, and start up the system. Function Functional description 1. The PLC controls the compact drives. In addition, input and output values from the Advantys FTB and the state values of the drives are transferred via the CANopen bus. The PLC has a state machine for each drive, used to control the drive. The state machine converts motion commands, e.g. Move to position xy at 1400 rpm or Acknowledge error, into a control signal for the drive. 2. The motion commands in the example project are in the form of input signals to the FTB modules. Each drive has an FTB module with twelve inputs and four outputs. The speed and target position settings are entered as fixed values in the PLC program but different values are selected, depending on the input signals. Certain drive states are also forwarded to the FTB module outputs. 3. The input signals for the FTB modules can come directly from the machine to be controlled but this can also be done using switches and buttons. The output signals are intended to be state indications from the individual drives and can be displayed using signal lamps. Layout Schneider Electric 16

17 Order of tasks Proceed as follows to optimize the setup time of the individual products: 1. Parameterize the CANopen bus nodes (addresses, baud rate) 2. Use Sycon software to parameterize the CANopen bus (nodes, parameters etc.) 3. Create the PLC project and hardware and bus configurations (import the Sycon data) 4. Configure the state machine for the compact drives and assignment of I/O signals Proceeding in the sequence described above will ensure that the relevant information can either be imported directly or entered manually from the previous action. Schneider Electric 17

18 Setting the device parameters on the CANopen bus Introduction The address and transfer rate must be specified for all the devices on the CANopen bus. IcIA Specifying the address and transfer rate (manually) 1 The CANopen address and transfer rate are set manually using the DIP switches and the rotary switch in the cable connector of the drive. The address can be varied between 1 and 127 using switches S1 and S2. S3 can be used in addition to define the drive as the last device on the bus by activating the CAN terminating resistor. The transfer rate is set with the rotary switch and the value for operating with the Premium PLC is 500 kbaud. 2 The table summarizes the switch settings for the desired CANopen address. 3 This table shows the switch position assigned to each transfer rate. Set the switch to position 5 for the required rate of 500 kbaud. Schneider Electric 18

19 Advantys FTB Specifying the address and transfer rate The CANopen address and transfer rate are set manually on the modules via rotary switches. There are two rotary switches for the address and one for the transfer rate. In the example software, the 4 FTB modules are configured with the addresses 25 to 28 and the transfer rate is set to kbit/s. Element Function 1 Transfer rate 2 Address 10x 3 Address 1x Rotary switch position Transfer rate 0 Autom. recognition 1 10 kbps 2 20 kbps 3 50 kbps kbps kbps kbps kbps kbps 9 1 Mbps Overview of addresses In the example software, the individual devices on the extension have the following addresses: Device Address Comment TSX CPP Set with Sycon software FTB 1CN12E04SPO 25 Set via rotary switches FTB 1CN12E04SPO 26 Set via rotary switches FTB 1CN12E04SPO 27 Set via rotary switches FTB 1CN12E04SPO 28 Set via rotary switches IcIA 1 29 Set via DIP switches IcIA 2 30 Set via DIP switches IcIA 3 31 Set via DIP switches IcIA 4 32 Set via DIP switches Schneider Electric 19

20 Implementing CANopen bus Introduction The CANopen bus is configured using the Sycon software. The individual devices are identified as nodes on the bus, then addresses are assigned and the master function is assigned to the Premium PLC. Subsequent steps configure the data for the individual devices to be transferred during operation (PDO) and if necessary specify their configuration (SDO). In the last step the general bus settings are entered, e.g. specifying the transfer rate. Create a new project 1 Start the software, then start a new project from File -> New. Select CANopen as the bus in the window that opens. Import the compact drive into Sycon 1 In order for the compact drives and FTB modules to be integrated in the CANopen bus via the Sycon software, every type of compact drive used and/or the FTB module used must first be integrated in the software. Do this by using the *eds description files (and the three additional image files). 2 After creating the project, select the Copy EDS menu item from the File menu. Note: Integration is not possible, and this menu is not available, until a new project has been created. Continued on next page Schneider Electric 20

21 Import the compact drive into Sycon, continued 3 In the window, select the file for the IclA type and start the process. Note: You must repeat the process if more than one type is involved. 4 Confirm the import of the corresponding images. 5 A message appears informing you that integration is complete. Schneider Electric 21

22 Enter nodes 1 Add the PLC s PCMCIA card for the CANopen bus to the project as the master via the Master menu item in the "Insert" menu, or by using the equivalent button. Select the "TSX CPP 110" card in the next window. A CANopen address and a name must also be entered. 2 Add each drive to the project as a node via the Node menu item in the "Insert" menu, or by using the equivalent button. Select the drive concerned as the type in the next window. A CANopen address and a name must also be entered. This process must be repeated for each drive. Note: You can preselect the manufacturer and profile in the node filter to speed up the search for the devices in the selection list. 3 The Advantys FTB I/O modules are also added to the bus as nodes. The selection window now looks as follows. A CANopen address and a name must also be entered. 4 After all devices have been entered there are eight nodes altogether in the example project. Select ID Table in the View menu to call up the identification table, which summarizes all the nodes and their addresses. Schneider Electric 22

23 Configure compact drives as CANopen nodes 1 Double-click on the device to open the Node configuration window that is used for all bus node settings including configuration of the node at the start of the bus and the transfer of data during operation. The window is divided into three parts: the top part shows the general configuration, the center part shows the predefined PDO and the bottom part shows the PDOs configured for these nodes and can also be used for configuration or making changes. 2 Double-click on the two predefined PDOs to activate them for data transfer between PLC and compact drive. Note: Configuration of the compact drives is done via the PLC; consequently at this point only the data transfer is described. If configuration is required before the start of the bus, proceed exactly as for the FTB modules. 3 After double-clicking on the PDOs to be activated, the window for setting the transmission type appears. For the receive PDO, select Triggering Mode only with the mode when data has changed. For the transmit PDO, select manufacturer specific and no remote request. Continued on next page Schneider Electric 23

24 Configure compact drives as CANopen nodes, continued 4 After the transmission mode has been selected the PDO is automatically entered as a configured PDO. There is no need for additional configuration. You must configure a Type 4 PDO to send and receive for each compact drive. Note: Click the Contents Mapping button to see the data to be transmitted in the selected PDO. The Characteristics button returns you to the transmission mode screen for the PDO. Configure Advantys FTBs as CANopen nodes 1 Double-click on the device to open the Node configuration window that is used for all bus node settings including configuration of the node at the start of the bus and the transfer of data during operation. Unlike the drives, four PDOs are predefined for the FTB modules and only two of these have to be selected for the application. In addition, details of configuration before the start of the bus are given here. 2 To call node configuration, click the Object Configuration button A separate window appears, listing all the objects in the CANopen object library for the device. Note: The objects only appear in the list if they are also available in the eds-file. Continued on next page Schneider Electric 24

25 Configure Advantys FTBs as CANopen nodes, continued 3 Pin 2 of an FTB module can be used as either diagnostic or I/O channel. To use the pin as an I/O channel, object 2000:01 must be selected in the object configuration by double-clicking it. After selecting, enter the value 0. Note: Other objects may need to be configured, e.g. the behavior of the outputs in the event of a fault. Note: Configuring PDOs automatically configures other objects. 4 For data transmission a receive PDO and a send PDO must be activated in each case. The actual I/O data transfer is in PDO1 each time (objects 1400 and 1800). Double-click to open the PDO concerned. Note: The PDO5 that are also available transmit state information as well and the function of Pin 2 can be switched over (see above). 5 After double-clicking on the PDOs to be activated, the window for setting the transmission type appears. For the receive PDO, select is defined in the device profile with the event when data has changed. For the transmit PDO, also select is defined in the device profile and when data has changed. Continued on next page Schneider Electric 25

26 Configure Advantys FTBs as CANopen nodes, continued 6 After the transmission mode has been selected the PDO is automatically entered as a configured PDO. There is no need for additional configuration. You must configure a type 1 PDO to send and receive for each FTB. Note: Click the Contents Mapping button to see the data to be transmitted in the selected PDO. The Characteristics button returns you to the transmission mode screen for the PDO. Parameterize the CANopen bus 1 The bus parameter window is called up by selecting Bus Parameter from the Settings menu. The master has to be selected in the bus view. 2 The transmission rate is the only parameter to be changed, to 500 kbit/s. Then save the Sycon project. Schneider Electric 26

27 PLC implementation Introduction This chapter describes how to create a PLC program, including the logic for the drives, using the Unity Pro software. Proceed as follows to integrate the PLC: 1. Create new project and select hardware 2. Configure CANopen communication 3. Create application program (logic) 4. Connect PLC and download program Create a new project 1 After starting Unity, the first thing you need to do is create a new project. When doing so, you must select the correct PLC. 2 Next, you should modify the position of the CPU by dragging and dropping and insert the correct power supply. Now save the project. 3 Double-click on PCMCIA slot B to bring up a window that lists the permitted PCMCIA cards. The CANopen card TSX CPP 110 can be selected under Communication. Now save the project. Schneider Electric 27

28 Configure CANopen communication 1 Double-click on slot B again to open the configuration of the CANopen bus. 2 The configuration window is divided into a number of areas. On the left you can select the association with the task being executed, in this case the master task. The upper part of the window is for selecting the restart characteristics of the bus and the assignment of addresses for the input and output areas. An automatic bus restart is configured in the example project. The inputs start at address %MW0 and the outputs at %MW words are provided for each area. 3 The most important configuration task is transferring the file from the Sycon software. This can be selected by clicking the Select Database button. After the transfer the most important data is shown underneath the file details. You can also choose here whether to use Unity or Sycon for bus configuration. In the example we use Unity. Continued on next page Schneider Electric 28

29 Configure CANopen communication continued 4 Clicking the Bus configuration button brings up a new window where the individual nodes are listed. If you click on one of the nodes in the list, information such as the I/O addresses assigned is displayed on the right. Note: The addresses are shown from top to bottom in order of their position on the bus in the Sycon software. The CANopen addresses are disregarded. 5 The configuration must then be confirmed or validated. You can do this by either closing the configuration window or using the Process-Validate menu. Note: You can only save, close and generate the project after you have validated the bus configuration. Schneider Electric 29

30 Overview of addresses Overview Description The tables provide an overview of the example application I/O data; the PLC addresses are assigned to the individual nodes of the CANopen bus. Note: In the example project the data for each compact drive is read in as a range of 4 words but access to the digital I/O data is via mirroring in the flag range (%M) so that these values can be forced. Schneider Electric 30

31 Creating the application program 1 First, you need to declare variables and assign them to input and output data of the drive or I/O data, assuming that you do not intend to make use of direct addresses. In the example program the I/O data from an FTB module is used to control a drive. For the sake of clarity, all the FTB module data starts with ftb* and all the motor data starts with icla*. 2 Next, you need to program a state machine for the purpose of controlling the drives. You must also ensure that the drives are parameterized before they run, unless the Sycon software is responsible for it. In the example program a dereived function block (DFB) takes over both functions. Configuration is executed when the PLC starts, and the state machine controls the drive. 3 Note: In the example program, the DFB writes its configuration values into the following objects of the compact drive. Values can be added or removed as required. 4 The last step consists in creating the logic for the link between the module and the I/O points. Signals have to be created for the various operating modes and the target positions and speed have to be assigned. Output signals also have to be activated. Configured objects: 301C:0D Enable monitoring inputs 301E:0A Mask transfer bit 300B:06 Store data in EPROM Schneider Electric 31

32 Downloading a program 1 Upon completion of programming, the entire project must be built. To do this, select the relevant menu item or button. 2 You must define the PLC address before establishing a connection with the PLC. Depending on the connection used, you can select UNTLW01 for a Uni-Telway connection or USB for a USB connection. In both cases, the PLC SYS address (standard system address) should be used. 3 The connection is made using the "Connect" menu item from the "PLC" menu, or the equivalent button. The programming cable (serial or USB) must be connected to the PLC. 4 Transfer the application program to the PLC and then start the PLC. Note: If you want the PLC to start as soon as the download is complete, you must check the relevant box before starting the transfer. Schneider Electric 32

33 Functional expansion Depending on the application, the drives may be operated from a visual display unit connected to the PLC, such as a Magelis XBT-N 401, instead of the interface with buttons, switches and signal lamps that is described above. This would make particular sense where the drives can be controlled from a central point and a relatively large number of operator interventions are needed. It does away with the need for a large number of I/O signals and reduces the number of FTB modules, provided that this is practical in terms of the physical layout of the drives. Operating behavior Starting characteristic The starting characteristics of the devices are determined exclusively either by the PLC or by starting the CANopen bus. When the bus starts the parameters that were specified using the Sycon software are transmitted to the devices via SDO. In addition, parameters can be sent from the PLC to the devices during operation via SDO. The example project provides for both options. The Advantys I/O modules are configured when the bus starts as they were defined in the Sycon software. For the compact drives, the parameters are transferred by the PLC from the drive block. Where both options can be used in parallel, the PLC parameters are valid as the PLC can only send the parameters to the devices after the bus has started. Schneider Electric 33

34 Appendix Detailed components list Type/software Description Revision/ version ABL7RE2403 POWER SUPPLY 240 V AC 1PH 24 V DC 3 A ABL7RE2410 POWER SUPPLY 240 V AC 1PH 24 V DC 9 A VCF02GE EMERGENCY OFF MASTER SWITCH TSXP575634M Premium CPU; 640 KB INTEGR.ETH TSXPSY5500M 115/230 V AC/55 W power supply TSXRKY8EX Expandable backplane 8 TSXTLYEX Terminating resistors A and B TSXCPP110 CANopen PCMCIA interface module TSXPCX1031 Communication cable multifunctional UNYXCAUSB033 Communication cable USB FTB1CN12E04SP0 DIGITAL I/O 24 V DC 12 IN 04 OUT IP 67 CANopen bus FTXDP2130 Connecting cable for 24 V power supply FTXCN3210 Connection cable for connecting FTB to CANopen bus IFA61-2CAN-DS3DC Compact drive with AC servo motor IFS61-2CAN-DS Compact drive with stepping motor ICLA IFX CABLE Set of connecting cables for compact motor UNYSPUEFUCD20 Unity Pro XL single-user license V2.0.2 SYCSPULFUCD28M Sycon field bus configuration software V2.8 Schneider Electric 34

35 Contact Author Phone Schneider Electric GmbH Customer & Market System & Architecture Architecture Definition Support Schneider Electric GmbH Steinheimer Strasse 117 D Seligenstadt Germany CANopen_EN.doc As standards, specifications and designs change from time to time, please ask for confirmation of the information given in this publication. 35