LEXIUM Communication by Fipio

LEXIUMCommunication by Fipio

3500

5237

_03

February 2005eng

Document Set

Document Set

At a Glance Document set� Fipio network: Reference manual TSX DR FIP x� Premium PLC: Installation manual TSX DM 57 4x� PL7 Micro/Junior/Pro communication applications TLX DS COM PL7 4x� Lexium Drive

Lexium user manualUnilink software user manualList of ASCII commandsDocuments relating to Lexium are available on the Lexium Motion Tools CD-ROM (ref. AM0 CSW 001V350).

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Document Set

4

Table of Contents

About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

Chapter 1 Fipio on LEXIUM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Implementation: General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Methodology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Chapter 2 Hardware implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Installation: General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Assembly precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17References of Fipio accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Connecting to Fipio bus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19Preparation of cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Connection using the TSX FP ACC12 connector . . . . . . . . . . . . . . . . . . . . . . . . 22Connection of TSX FP ACC 2 connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25Connection to TSX FP ACC 4 branch box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Chapter 3 Software implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34Operation of drive on the bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Chapter 4 Premium Command Station. . . . . . . . . . . . . . . . . . . . . . . . . . . .37At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37Premium command station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38Addressing of remote module language objects on a FIPIO bus . . . . . . . . . . . . 39Configuration with PL7 of version 4.3 or later . . . . . . . . . . . . . . . . . . . . . . . . . . . 42Configuration with PL7 of version prior to 4.3 . . . . . . . . . . . . . . . . . . . . . . . . . . . 45Using messaging. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Chapter 5 Configuration of Lexium: Parameters . . . . . . . . . . . . . . . . . . .51Configuration parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Chapter 6 Debugging and diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . .55At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

5

Diagnostics of FIPIO option card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56Lexium parameters in Unilink software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57Diagnostics by READ_STS instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58Debugging screen for Lexium on Fipio accessed via PL7. . . . . . . . . . . . . . . . . . 59Shared debug screen for Lexium. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61Speed setpoint function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63Analog speed screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64Torque setpoint screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65Analog torque screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66Position on external encoder screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67Position setpoint screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68Motion control screens. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69Debugging screens for PL7 of version prior to V4.3 . . . . . . . . . . . . . . . . . . . . . . 71

Chapter 7 Replacement of drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74LXM_SAVE function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75LXM_RESTORE function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Chapter 8 Language objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81Implicit exchange language objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82Explicit exchange language objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Chapter 9 Operating modes of the drive . . . . . . . . . . . . . . . . . . . . . . . . . . 91At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91Operate modes of drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92Status diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93Unilink forced offline mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95Downgraded operating modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Chapter 10 Theoretical performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97Theoretical performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Chapter 11 List of variables for Lexium . . . . . . . . . . . . . . . . . . . . . . . . . . . 99At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99Lexium variables - General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100General read/write variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101Read/Write semi-logical variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107General read only variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108Logical variables and status registers in read only . . . . . . . . . . . . . . . . . . . . . . 110Read/Write status registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

6

About the Book

At a Glance

Document Scope This document is a description of the Fipio environment, as well as the Lexium command station principles and drive function. This description is not exhaustive.

User Comments We welcome your comments about this document. You can reach us by e-mail at [email protected].

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About the Book

8

1
Fipio on LEXIUM
At a Glance

Subject of this Chapter

This chapter details the implementation of Fipio on LEXIUM.

What's in this Chapter?

This chapter contains the following topics:

Topic Page

Implementation: General 10

Methodology 12

9

Implementation - Fipio

Implementation: General

At a Glance The Fipio communication option card enables you to connect a Lexium drive on a Fipio bus.

The Fipio option card package consists of:� An option card, reference AM0 FIP 001 V000.� A CD-ROM containing the present manual.

The Fipio accessories and cables comply with the standard referred to in the catalog of Schneider Automation products. References for the necessary elements are detailed in the Hardware implementation chapter.

Compatibility This card can be used on Lexium digital MHDA drives with analogue setpoints:

Part Number Permanent output current

MHDA 1004.00 1.5 A rms

MHDA 1008.00 3 A rms

MHDA 1017.00 6 A rms

MHDA 1028.00 10 A rms

MHDA1056.00 20 A rms

MHDA 1112.00 40 A rms

MHDA 1198.00 70 A rms

Note: Compatibility rules:� The drive serial number must be greater than or equal to 0770 220 200� The software version of the drive must be higher than version V4.87.� PL7 software (versions V3.0 to V4.2) can accept a LEXIUM drive using a

standard profile.� Version V4.3 PL7 software can accept a LEXIUM drive using a specific profile

with extended services.� The Unilink version must be higher than V2.0

10


Compatibility with Option Card Standards

� EN61131-2� IEC 1000-4-2� IEC 1000-4-3� IEC 1000-4-5� IEC 1000-4-6� EN55022/55011� UL508� CSA 22-2

Operating Temperature

� In operation: 0 to 60°C� In storage: -25°C to 70°C

11


Methodology

Presentation Flow Chart

The following flow chart summarizes the different phases for implementing a Lexium drive equipped with a Fipio option card in a Fipio network architecture.

Hardwareimplementation

Offline mode

Online mode

Installation

Card installation

Connecting to the FIPIO bus

Design

Configuring/Programming Premium command station

Chapter 2 - Hardware implementation

Chapter 4 - Premium command stationChapter 7 - Language objects

Chapter 6 - Diagnostics

Chapter 5 - Lexium Configuration

Configuring Lexium communication

parameters

Diagnostics and debuggingOperation

PL7

UNILINK

UNILINK

PL7

12

2
Hardware implementation
At a Glance


This chapter deals with hardware implementation for the Fipio option card on LEXIUM.



Topic Page

Installation: General 14

Assembly precautions 17

References of Fipio accessories 18

Connecting to Fipio bus 19

Preparation of cables 21

Connection using the TSX FP ACC12 connector 22

Connection of TSX FP ACC 2 connectors 25

Connection to TSX FP ACC 4 branch box 28

13

Hardware implementation - Fipio

Installation: General

At a Glance FIPIO is a field bus, which allows the decentralization of the inputs/outputs of a PLC station and its industrial peripheral devices nearest to the operational part.

From a PLC station whose processor has a built-in FIPIO link, the FIPIO bus is used to connect 1 to 127 devices.

The FIPIO field bus can be used in a simple architecture (mono-station) or in a more complex architecture (multi-station) where several FIPIO segments can be brought together by a local network at a higher level such as FIPWAY or Ethernet TCP/IP for example.

Main characteristics (reminder)

Structure

Nature Open field bus, conforming to World FIP standards.

Topology Devices linked by chaining or branching.

Access method Managed by a bus arbiter

Communication By exchange of variables which can be accessed by the user in the form of PL7 objects and X-WAY datagrams.

Privileged exchanges Cyclical exchange of status variables and remote input/output commands

Transmission

Mode Physical layer in baseband on shielded twisted pair in accordance with IEC 1158-2

Binary rate 1 Mb/s.

Medium Shielded twisted pair (150 Ohms of characteristic impedance).

14


Typical architecture

Illustration:

Configuration

Number of connection points

128 logic connection points for whole architecture.

Number of segments Unlimited

PLC One PLC (connection point with address 0)

Programming terminal One programming terminal (must be connected to connection point 63).

Length The length of a segment depends on its type of branches:� 1000 meters maximum without repeater.� 1500 meters maximum between the devices which are the

furthest apart.

Lexium Drives

References:TSX P57•5•• orTPCX 57•5••

Premium

Programmingterminals

PL7

TSX FP ACC4

FIPIO Bus

Magelis

UNILINK

OtherFIPIOdevice

15


Installation The Fipio option card is not mounted on the drive when it is supplied. The card slot for this card (reference X11 on the drive) is protected by a secure cover.

The Fipio option card has a Sub-D 9 male connector and 2 diagnostics LEDs.The power supply for this card is provided by the Lexium.

LexiumFipio Interface

AM0 FIP

COM ERR

16


Assembly precautions

Procedure to be followed

Warning: Before starting, make sure that the drive is not switched on.

Stage Action

1 Detach the cover from the port intended for the option cards.

2 Take care to ensure that nothing falls into the open slot.

3 Carefully place the card into the slot, following the guide rail.

4 Press down firmly on the card until the card's contact is in contact with the edge of the drive. This enables you to make sure that the card is well connected to the drive.

5 Fix the card in place with the 2 knurled screws provided.

17


References of Fipio accessories

Table of References

References for the main accessories

Designation Product Reference

Polycarbonate female connector (SUB-D 9 pin) TSX FP ACC 12

Zamac female connector (SUB-D 9 pin) TSX FP ACC 2

IP20-rated isolation box for connection to bus (branching) TSX FP ACC 14

IP20-rated isolation box for connection to bus (branching) TSX FP ACC 3

IP65-rated dust and damp proof junction box for connection to bus (branching)

TSX FP ACC 4

IP65-rated dust and damp proof junction box for connection to bus (branching)

TBX FP ACC 10

Electrical repeater TSX FP ACC 6

Electric/fiber optic repeater TSX FP ACC 8M

Line terminator: TSX FP ACC 7

Trunk cable (standard environment) TSX FP CA •00

Trunk cable (harsh environment) TSX FP CR •00

Branch cables TSX FP CC •00

Fipio PCMCIA card for Micro/Premium TSX FPP 10

Cable for TSX FPP 10/20 PCMCIA card TSX FP CG 0•0

Cable for PC card TSX FP CE 030

Note: For more extensive details, please consult the Schneider catalogues.

18


Connecting to Fipio bus

Introduction The bus consists of a shielded twisted pair cable. Connections can be made to the bus either by chaining or branching.To implement a FIPIO bus, refer to the manual TSX DRFIP (FIPIO BUS - Reference manual)

Diagram showing station connections

Wiring by chaining:

Wiring by branching:

TSX FP ACC 2 orTSX FP ACC 12

Trunk cable: TSX FP CA •00/CR •00

Stations

Trunk cable: TSX FP CA •00/CR •00

Stations

TSX FP ACC 3 orTSX FP ACC 4 orTSX FP ACC 14

TSX FP ACC 2 orTSX FP ACC 12

Branch cableTSX FP CC •00

19


Connection of the option card to the branch cable

The connection, either by branching or chaining, to the FIPIO option card Ref. AM0 FIP 001 V000 is made using TSX FP ACC12 or TSX FP ACC2 connectors.

Example of connection of the FIPIO card by branching

Lexium Fipio Interface

COM

9-pin male SUB D connectorof the card

Fipio trunk cable

TSX FP ACC 2(or TSX FP ACC12)

TSX FP ACC 4 (or TSX FP ACC 3 or TSX FP ACC 14)

FIPIO branch cable

ERR

AM0 FIP

20


Preparation of cables


Before connecting the auxiliaries, you are advised to prepare the cables by following the steps below:

1 Strip a 5 cm length of sleeve from the cable,

2 cut the braid in line with the ground connection,

3 fit the ground connection clamp (the position of the clamp on the cable must take account of the fact that it must be fastened to the connector, to the right or the left of the cable),

4 split apart the liner and the transparent cable strands to free the wires,

5 strip 5 cm from the end of each of these wires and fit them with the end-pieces supplied.

Braid

Ground connectionclamp

liner

21


Connection using the TSX FP ACC12 connector

General This connector is used for connections to the FIPIO option card by chaining or branching.It is important to check for proper electrical continuity when wiring the connector.

Illustration Illustration of TSX FP ACC 12 connector:

Description of TSX FP ACC 12 connector:

Number Description

1 SUB-D 9 pin connector with directionable upward or downward cable outlet

2 Cover

3 Connection block

4 Cable shield holding clamp

5 Fastening screw for TSX FP ACC 12

6 Ground connection lug

7 Double wiring ends

8 Cable cleat

9 Fastening screw for clamp

A

22


When the connector is located at the end of the bus, the cable A is replaced by a standardized TSX FP ACC 7 line terminator resistor.For further information, refer to the information sheet supplied with all TSX FP ACC 12 products.

Connections Identification of signal wire colors:

Reminder: the trunk cable contains a shielded pair: red and green wires, the branch cable contains two shielded pairs: red and green wires for one pair and orange and black wires for the second pair.

Connection by chaining:

Connection by branching:

cable pairs

r = red

o = orange

g = green

b = black

white

blue

9-pinSub-D

Ensure that the strippedsections of wire are well twistedbefore inserting them into thedouble wiring end-piece.This means that the link will notbe broken if the terminal blockis only partially tightened.

r

rg

gTrunk cable

The branch cable is to bepositioned at the DCTAP outletin position (A). The other end ofthe cable is connected to thetrunk cable using a branch box.

g

b

o

r

Branch cable

23


Line terminator:

CAUTION

When the TSX FP ACC 12 is not connected to a device, its shielding may have a hazardous potential rating (if the TSX FP ACC 12 is not connected to the local ground). This is only the case when the grounds are not equipotential for all devices on the bus.

Failure to follow this precaution can result in injury or equipment damage.

To ensure that the networkfunctions correctly, a lineterminator must be connectedat both ends of each segment.To comply with the IEC 1158-2standard, you must use astandardized terminator: TSX FP ACC 7 (not supplied).This line terminator must thenbe placed in position (A).

Trunk cable

TSX FP ACC 7

24


Connection of TSX FP ACC 2 connectors

Installation The different cables are connected using a screw terminal block. The procedure for installation is as follows:

Stage Action

1 Open the connector

2 Prepare the cables (See Preparation of cables, p. 21), then tighten the connection for each wire on the screw terminal block, observing the requirements for the pairing and polarity of wires: Red (+) / Green (-) and Orange (+) / Black (-). The wiring diagrams below show the two types of connection possible: by chaining or branching.

3 Fasten the ground connection clamp(s) to the connector taking care not to pinch the wires.

4 Remove the blank(s) on the cover to allow the cables to be passed through.

5 Replace the cover and fasten it in place.

Ground connectionclamp

25


Connection by chaining

If the device to which the connector is fitted is positioned at the start or the end of the FIPIO segment, only cable 1 is connected to the junction box. If this is the case, cable 2 must be replaced by a TSX FP ACC 7 non-polarized line terminator.The fastening system for the ground connection clamps prevents cables arriving opposite each other. They must either arrive from the same direction (left or right), or be offset.

Illustration of connection by chaining:

26


Connection by branching

In the drawing below, cable 1 is a branch cable of type TSX FP CC•••. If the branch is made using 2 TSX FP CA/CR••• type cables, the connection is made in the same way as for chaining.In this type of configuration, the cable can either arrive from the left or the right, or from above or below.

Illustration of connection by branching:

27


Connection to TSX FP ACC 4 branch box

Installation The different cables are connected using screw terminal blocks, with one terminal block per twisted pair. The procedure for installation is as follows:

Stage Action

1 Open the branch box

2 Prepare the cables (See Preparation of cables, p. 21), then pass them through the cable glands

3 Fit a ground connection clamp to each cable. The position of the clamp on each cable must take account of its fastening to the branch box (to the right or the left of the cable)

4 Tighten the connection for each wire on the screw terminal block observing the requirements for the pairing and polarity of wires: Red (D+) / Green (D-) or Orange (D+) / Black (D-)

5 Fasten the ground connection clamps then tighten the cable glands through which a cable or line terminator has been threaded

6 Replace the cover and fasten it in place.

28


Possible connections

The TSX FP ACC 4 branch box also has a 9 pin female connector which can be used to connect a type 3 PCMCIA device: TSX FPP 10, TSX FPP 20.Two types of connection are possible: by branching and by chaining.

Branching with TSX FP CC •00 branch cable

In this case, the branch must be connected as shown above. The user may also connect a programming terminal to the SUB-D connector after having loosened the plug by a quarter turn.In this example, the branch cable leaves via the left-hand cable gland. It is of course possible for it to leave the box via the right hand cable gland.

11

2

1 1

2

ACC4

Lexi

um

1 = trunk cable2 = branch cable

29


Chaining carried out with the TSX FP CA •00/CR•00 trunk cable

In this case, the branches must be connected as shown above. The user may also connect a programming terminal to the SUB-D connector after having loosened the plug by a quarter turn.

Connection of a terminator

If the box is positioned at the start or end of the segment, only cable T1 is connected and a TSX FP ACC 7 terminator (non-polarized) is connected instead of the second cable segment.The connection is made as shown below:

11

1

1 1

2

ACC4

Lexi

um

Lexi

um

Lexi

um

1

Branching

ACC455 1

1

2

Lexi

um

2

30


1 TSX FP CA •00/CR •00 trunk cable

2 TSX FP CC •00 branch cable

5 TSX FP ACC 7 line terminator

(+) Corresponds to red or orange wire

(-) Corresponds to green or black wire

Note: For connection of TSX FP ACC 3 and TSX FP ACC 14 boxes, refer to the general Fipio documentation.

Chaining

51

1

1

51

1

ACC4

Lexi

um

Lexi

um

Lexi

um

1

31


32

3
Software implementation
At a Glance


This chapter describes the general communication function on Fipio.



Topic Page

General 34

Operation of drive on the bus 35

33

Software implementation - Fipio

General

At a Glance A device on the Fipio field bus is identified by its connection point.

The number of the connection point represents the physical address of the device on the bus and has a value of between 0 and 127. For the Lexium, this value is limited to 62.

The address 0 is exclusively reserved for the bus manager PLC.

The address 63 is reserved for the programming terminal. This specific address allows the terminal to have access to any network architecture without the need for prior configuration.

All other addresses can be used by any devices that can be connected to the FIPIO bus, but must have been configured in advance using the programming software

Bus arbiter On a FIPIO bus, a single manager PLC authorizes data exchanges. This PLC is the active bus arbiter, and is responsible for managing access to the medium.

The task of the bus arbiter is to scroll through the list of messages to be sent and to allocate the word for the aperiodic exchanges of variables and messages requested.

The list of cyclic exchanges followed by the windows allocated for the aperiodic traffic form a macrocycle. The active bus arbiter scans this macrocycle, and repeats this task to infinity.

On a FIPIO bus, the macrocycle is linked to the exchange requirements of the application program. In particular, this makes it possible to:� scan the status and command variables of the devices whilst meeting

requirements to update PLC tasks,� allocate an aperiodic exchange window to variables for the configuration,

management and diagnostics of remote devices,� allocate an aperiodic exchange window to messages to be shared between all

devices using a messaging service (this window allows 20 messages of 128 bytes to be exchanged per second, with this rate rising to 50 messages per second for messages of 32 bytes).

All these functions are automatically supported by the system when the bus is configured.

34


Operation of drive on the bus

Introduction The Lexium drive appears on the FIPIO bus as a "slave" station.The LEXIUM drive can exchange information over FIPIO either by aperiodic exchange or by cyclic exchange. These exchanges makes it possible to access the following information:� Reading and writing of configuration parameters,� Command and status,� Monitoring,� Diagnostics.

Overview of exchanges possible between Premium and Lexium:

For further information, refer to the following pages:� Implicit exchange language objects, p. 82� READ_STS instruction, see Diagnostics by READ_STS instruction, p. 58� READ_VAR and WRITE_VAR instructions, see Using messaging, p. 48� LXM_SAVE function, p. 75, LXM_RESTORE function, p. 77

Implicitexchanges32I/32O

%I%Q(module/channel)

• Command• Status

Explicitexchanges%MW%MD

• Diagnostics

• Parameters• Data

Double words(module/channel)

Instruction: READ_STS

Premium Lexium

Messaging

Instructions:READ_VARWRITE_VAR

Instructions:LXM_SAVELXM_RESTORE • Motion Tasks

35


Replacement of defective drive

This service, available with V4.3 of PL7, allows you to save and restore all parameters of the drive and the programmed "Motion Tasks" using two instructions.This function allows you to replace a defective drive without having to use UNILINK software.A description of how this service works is provided later in the manual (see Replacement of drive, p. 73).

36

4
Premium Command Station
At a Glance


This chapter shows how to set up the different modes of communication allowing access to the drive.



Topic Page

Premium command station 38

Addressing of remote module language objects on a FIPIO bus 39

Configuration with PL7 of version 4.3 or later 42

Configuration with PL7 of version prior to 4.3 45

Using messaging 48

37

Premium command station: General

Premium command station

General An application is installed on a Premium PLC by means of the PL7 software factory. Depending on the version of PL7, the services available will differ:

� Software version between V3.0 and V4.2: configuration of drives with a standard profile.

� Software version V4.3: configuration of drives with customized services and profile.

The installation is carried out in two parts:� Station configuration� Writing PLC tasks. Using messaging.

38


Addressing of remote module language objects on a FIPIO bus

At a Glance The addressing of the main bit and word objects of remote modules on the FIPIO bus is performed on a geographical basis. That means that it depends on:� the connection point,� the type of module (base or extended),� the channel number.

Illustration Addressing is defined in the following way:

Note: For the Lexium, the Module No. and Channel No. are always equal to zero.E.g.: %IW\0.2.1\0.0.1

% I, Q, M, K X, W, D, F p.2.c m i r�Symbol Object type Format Address

module/channel andconnection point

ModuleNo.

Channel No.

Rank�\\

39


Syntax The table below describes the different elements that make up addressing.

Family Element Values Meaning

Symbol % - -

Object type IQ

--

Image of the physical input of the module,Image of the physical output of the module,This information is exchanged automatically for each cycle of the task to which they are attached.

M - Internal variableThis read or write information is exchanged at the request of the application.

K(*) - Internal constantThis configuration information is available as read only.

Format (size) X - BooleanFor Boolean objects the X can be omitted.

W 16 bits Single length.

D 32 bits Double length.

F(*) 32 bits Floating point. The floating point format used is the IEEE Std 754-1985 standard (equivalent to IEC 559).

Module/channel address and connection point

P 0 or 1 Position number of the processor in the rack.

2 - Channel number of the built-in FIPIO link in the processor.

c 1 to 127 Connection point number.

Module position m(**) 0 or 1 0: base module, 1: extension module.

Channel No. i(**) 0 to 127 or MOD

MOD: channel reserved for managing the module and parameters common to all the channels.

Rank r 0 to 255 or ERR

ERR: indicates a module or channel fault.

(*) not present for Lexium(**) always at zero for Lexium

40


Examples The table below shows some examples of addressing objects.

Object Meaning

%MW\0.2.1\0.5.2 Status word at rank 2 of the image bit of input 5 of the remote input base module situated at connection point 1 on the FIPIO bus.

%I\0.2.1\0.7 Image bit of input 7 of remote input base module situated at connection point 1 on the FIPIO bus.

%Q\0.2.1\1.2 Image bit of output 2 of the remote output extension module situated at connection point 1 on the FIPIO bus.

%I\0.2.2\0.MOD.ERR Fault information for Momentum module situated at connection point 2 on the FIPIO bus.

%Q\0.2.3\0.0.ERR Fault information for channel 0 of CCX17 module situated at connection point 3 on the FIPIO bus.

%IW\0.2.4\0.0.9 Word containing "Speed" value of Lexium drive situated at connection point 4 on Fipio channel (2) of a single format processor (slot 0).

1 TBX DES 16220 TBX DES 1622

0 170 AAI 030 00

TBX LEP 030

170 FNT 110 01

0

1

2

TSX 57253 FIPIO manager

0 T CCX 17 20 FTSX FPP 0103

0 MHDA 1004 N 00AM0 FIP 001 V004

41


Configuration with PL7 of version 4.3 or later

At a Glance A Lexium drive configured and implemented using PL7 of version V4.3 or later will benefit from the following specific services:

� a customized debugging screen� a customized interface language� pre-symbolization� specific services (e.g.: replacement of defective drive)

Configuration Procedure to follow to configure a Lexium drive on a FIPIO bus

Stage Action

1 From the hardware configuration screen of PL7, access the bus by double-clicking on the "Fipio" zone of the processorThe bus configuration screen appears:

FIPIO Configuration0 15 km

1

Logical address Communicator Base module Extension module

Bus length:TSX 57252 V3.0

0

63

127


Privileged terminal

42


2 Select a free connection point and double-click on it (Lexiums cannot be connected to connection points higher than 64).The following window appears:

3 Select � the LEXIUM family in 'Families' list,� a drive in the 'Base module' list,� The FIPIO option card for Lexium in the 'Communicator' list

Stage Action

OK

Cancel

Connection point

Families

Connection point numberComment

Base module

Communicator

AM0 FIP 001 V00 LEXIUM FIPIO Option Card

1

Add/Modify a Device

Lexium

MHDA 1004 . 00 LEXIUM 17D drive 1.5AMHDA 1008 . 00 LEXIUM 17D drive 3AMHDA 1017 . 00 LEXIUM 17D drive 6AMHDA 1028 . 00 LEXIUM 17D drive 10AMHDA 1056 . 00 LEXIUM 17D drive 20AMHDA 1112 . 00 LEXIUM 17DHP drive 40AMHDA 1198 . 00 LEXIUM 17DHP drive 70A

ATV-16 1.0ATV-58 1.0CCX-17 1.0CCX17-32 1.0LEXIUM 1.0MAGELIS 1.0MOMENTUM 1.0GATEWAY 1.0SIMULATION 1.0STD_P 1.0TBX 1.0TSX IP67 1.0

43


4 The Lexium and its communicator appear in the bus screen:

5 Double-click on the module to configure the task:

6 Confirm the configuration

Stage Action

0

1

2


3

0 MHDA 1004 . 00AM0 FIP 001 V00

4

Designation: LEXIUM 17D Servo drive 10A

MHDA 1028 . 00 [FIPIO1 MODULE 0]

Configuration

Task: MASTChannel 0

44


Configuration with PL7 of version prior to 4.3

At a Glance A Lexium drive can be configured and implemented using a version of PL7 software prior to V4.3.If this is the case, a standard profile must be used and the services available will be limited.

Configuration Procedure to follow to configure a Lexium drive on a FIPIO bus

Stage Action

1 From the hardware configuration screen of PL7, access the bus by double-clicking on the "Fipio" zone of the processorThe configuration screen of the bus appears:

FIPIO Configuration0 15 km

1

Logical address Communicator Base module Extension module

Bus length:TSX 57252 V3.0

0

63

127


Privileged terminal

45


2 Select a free connection point and double-click on itThe following window appears:

3 Select � the STD_P family in the 'Families' list,� the FED M32 standard profile in the 'Base module' list,� the type OTHER COM in the 'Communicator' list.

Stage Action

OK

Cancel

Connection point

Families

Connection point numberComment

Base module

Communicator

OTHER COM Other communicatorTSX FPP 20 Fipio agent PCMCIA card

1

Add/Modify a Device

Lexium

FED C32 P EQP STD CMPCT 32M PFED C32 P EQP STD CMPCT 32M PFED M32 P EQP STD MOD 32M PFED M32 EQP STD MOD 32MFRD C2P EQP RED CMPCT 2M PFRD C2 EQP RED CMPCT 2MFSD C8P EQP STD CMPCT 8M PFSD C8 EQP STD CMPCT 8MFSD M8P EQP STD MOD 8MP

ATV-16 1.0ATV-58 1.0CCX-17 1.0CCX17-32 1.0MAGELIS 1.0MOMENTUM 1.0GATEWAY 1.0SIMULATION 1.0STD_P 1.0TBX 1.0TSX IP67 1.0

46


4 The module and its communicator appear in the bus screen:

5 Double-click on the module to configure the task:

6 Confirm the configuration

Stage Action

0

1

2


3

0 FED M32OTHER COM

4

Designation: EQP STD MOD32

FED M32 [FIPIO1 MODULE 0]

Configuration

Task: MASTChannel 0

47


Using messaging

At a Glance The drive is seen as a module without parameters.To access all the drive parameters (position loops, speed loops, current loops, motor parameters, monitoring parameters) and to load the "Motion Tasks", use the services for reading/writing variables by messaging (refer to the Communication Applications Manual TLX DS COM PL7 xx for further information).Two examples of application for a Lexium drive are given below.

Read command The "READ_VAR" function enables a read request to be performed using messaging over FIPIO.

The example below shows the use of the READ_VAR function in the Premium environment. The screen on the left represents a task defined in ST language (Structured Text language) which will be executed on each PLC cycle. The screen on the right provides on-line help which makes the implementation of the function easier.

Explanation of parameters:

ADR#\0.2.1\SYS FIPIO address of drive:� 0.2 = FIPIO channel address� 1 = connection point of drive on FIPIO bus

‘%MD’ Type of object to be exchanged (for Lexium: always %MW or %MD)

2(ACCR)

Codification of object to be read: for the drive, this code will be the identifier of the corresponding ASCII command (refer to List of variables for Lexium, p. 99 or the full list available on the CD-ROM: Lexium Motion Tools).

1 Number of objects to be read

%MW0:5 Read 5 words starting from %MW0

%MW100:4 Address of communication report (4 words)

IF %M206 THENREAD_VAR(ADR#\0.2.1\SYS,’%MD’,2,1,%MW0:5,%MW100:4) :5,%MW2500:4) ;RESET %M206;END_IF;

ST = MAST - Command READ_VAR

Address: Parameters

Type of Object to Read:

Address of first Object to Read:

Number of Consecutive Objects to Read:

Reception Zone:

1

ADR#\0.2.1\SYS

2

%MW0 5

%MW100 4Report:

%MD

48


Write command The "WRITE_VAR" function enables a write request to be performed using messaging over FIPIO.The example below shows the use of the WRITE_VAR function in the Premium environment. The screen on the left represents a task defined in ST language (Structured Text language) which will be executed on each PLC cycle. The screen on the right provides on-line help which makes the implementation of the function easier.



‘%MW’ Type of object to be exchanged (for Lexium: always %MW or %MD)

11(ANOFF1)

Codification of object to be written: for the drive, this code will be the identifier of the corresponding ASCII command (refer to List of variables for Lexium, p. 99 or the full list available on the CD-ROM: Lexium Motion Tools).

1 Number of objects to be written

%MW0:5 Write 5 words starting from %MW0


WRITE_VAR

Address: Parameters

Type of Object to Write:

Address of the first Object to Write:

Number of Consecutive Objects to Write:

Data to Write:

1

ADR#0.2.1\S

11

5

%MW100 4Report:

%MW

%MW0

Example of how to write an ASCII command in word format:

IF %M209 THENWRITE_VAR(ADR#\0.2.1\SYS,’%MW’,11,1,%MW0:5,%MW100:4) :1,%MW3200:4);RESET %M209;END_IF;

ST = MAST - Command

WRITE_VAR

Address: Parameters

Type of Object to Write:

Address of the first Object to Write:

Number of Consecutive Objects to Write:

Data to Write:

1

ADR#0.2.1\S

1

5

%MW100 4Report:

%MD

%MW0

Example of how to write an ASCII command in double word format (PL7 V4.3 or later):

IF %M209 THENWRITE_VAR(ADR#\0.2.1\SYS,’%MD’,1,1,%MW0:5,%MW100:4) :1,%MW3200:4);RESET %M209;END_IF;

ST = MAST - Command

49



Reading status It is possible to read the status of the Lexium drive by using the READ_STS (See Diagnostics by READ_STS instruction, p. 58) instruction.

Other instructions

The LXM_SAVE and LXM_RESTORE instructions are used for the module replacement service Defective Lexium (See Replacement of drive, p. 73).


‘%MD’ Type of object to be exchanged (for Lexium: always %MW or %MD)

1(ACC)

Codification of object to be written: for the drive, this code will be the identifier of the corresponding ASCII command (refer to List of variables for Lexium, p. 99 or the full list available on the CD-ROM: Lexium Motion Tools).

1 Number of objects to be written

%MW0:5 Write 5 words starting from %MW0


50

5
Configuration of Lexium: Parameters
Configuration parameters

At a Glance Lexium drives manage their own operating mode. They configure themselves automatically on power up by retrieving the information held in their own internal Flash memory. The parameters are entered in the following screens.

FIPIO address The address of the drive on the FIPIO bus can be set from the basic settings screen of Unilink software. Possible address values are: 1 to 62.View of the window used to configure the FIPIO address:

Note: The baud rate does not need to be entered. It is deduced automatically.

Basic Settings 101

Software version Drive

Hardware

Firmware

Serial Number Address Bus Rate (Bauds)

Operating Time

h

Name

OK Cancel Apply

V4.00 KS232

Supply

Missing MainsPhase

Max. Mains Voltage

Ballast resistance

Ballast Power

Internal

80 W

480 V

Alarm

8 1 MBaud

Drive 3A Hardware Version 35.99

V4.8 DRIVE Rev created Dec 1213:15:50 2001

770220220

670:20 DRIVE0

Units

ms->VLIM Compatibility mode Counts

51

Configuration of Lexium

Additional parameters

The communication parameters of the drive must be entered in the FIPIO screen of Unilink software (except for the FIPIO address). This screen can be accessed once Unilink is connected to a drive with the FIPIO option card.The FIPIO screen of Unilink software:

The following table describes the different parameters of the "FIPIO" screen.

(1) The address on the FIPIO bus is configured in the "Basic Settings" screen of Unilink. Possible address values range from 1 to 62.The FIPIO address can be configured using the interface (display and push-button) on the front panel of the drive.

(2) Input TimeOut: maximum response time of drive

(3) Output TimeOut: maximum update time for %QW words

(4) MBPSTATE:Status read by Unilink, updated by FIPIO card. It makes the drive aware of the FIPIO card status.

FIPIO DRIVE 0

OK

FIPIO address

Time_out

Communication

Cancel Apply

DPR

FIPIO

Output

Input 20 ms

64 ms Drive

2

Parameter ASCII command Identifier Range of Values Default Access Note

FIPIO Address (1)

ADDR - 1-62 1 Read Address of node

Input TimeOut (2)

TO_IN 413 20 ms, 32 ms, 64 ms, 256 ms, 1 s, 4 s

20 ms Read/Write

-

Output TimeOut (3)

TO_OUT 414 32 ms, 64 ms, 256 ms, 1 s, 4 s

256 ms Read/Write

-

FIPIO MBPSTATE (4) - - 0 Read 16 bit length

DPR DPRSTATE (5) - - Read 16 bit length

Drive MBPDRVSTAT (6)

- 1-100 0 Read 16 bit length

52


Description of the different MBPSTATE statuses:

(5) DPRSTATE:

(6) MBPDRVSTAT:Status read by Unilink, updated by the drive. It makes the FIPIO card aware of the drive status. It can be write-accessed using the ASCII command MBPDRVSTAT.Description of the different MBPDRVSTAT statuses:

(*) MBPNTO = 0 communication fault reported to the drive. MBPNTO = 1 communication fault ignored by the drive, it is accessible in write mode via the ASCII MBPDRVSTAT command. Either MBPDRVSTAT = 16#08 for MBPNTO = 1 or MBPDRVSTAT = 16#00 for MBPNTO = 0

0 Card not configured

1 Card in Run

2 Card not communicating (STOP)

3 Network communication fault

4 DPRAM communication fault

0 Initialization of FIPIO card

80 Nominal phase no message

81 Receiving message

82 Sending response

1H Drive ready

2H Network communication fault

4H DPRAM communication fault

8H MBPNTO (*) Communication fault: network unknown

53


54

6
Debugging and diagnostics
At a Glance


This chapter deals with debugging and diagnostics for Lexium drives on a FIPIO bus.



Topic Page

Diagnostics of FIPIO option card 56

Lexium parameters in Unilink software 57

Diagnostics by READ_STS instruction 58

Debugging screen for Lexium on Fipio accessed via PL7 59

Shared debug screen for Lexium 61

Speed setpoint function 63

Analog speed screen 64

Torque setpoint screen 65

Analog torque screen 66

Position on external encoder screen 67

Position setpoint screen 68

Motion control screens 69

Debugging screens for PL7 of version prior to V4.3 71

55


Diagnostics of FIPIO option card

Diagnostics The FIPIO option card has two indicator LEDs to facilitate diagnostics. Their meanings are stated below.

COM LED

ERR LED

Status Meaning

Off No communication

Flashing Communication established.

Status Meaning

Off Normal operation

Flashing Card not configured or communication error

Fixed on Faulty module

Note: During the initialization phase on power up, the ERR LED and COM LED flash.

56


Lexium parameters in Unilink software

Drive status The Lexium drive uses three parameters, which allow the drive and FIPIO option card status to be seen.These parameters can be accessed� Via the Unilink software terminal or any terminal. The following ASCII commands

can be used to read these parameters:� DPRSTATE� MBPSTATE� MBPDRVSTAT

� Via the Unilink software screens:FIPIO card parameters window:

For details of the parameters, refer to Additional parameters, p. 52.

FIPIO DRIVE 0

OK

FIPIO address

Time_out

Communication

Cancel Apply

DPR

FIPIO

Output

Input 32 ms

64 ms Drive

2

1

80

1

57


Diagnostics by READ_STS instruction

At a Glance It is possible to read the status of the drive from PL7 by using the READ_STS instruction.

Syntax Syntax of READ_STS instruction:

READ_STS%CH\p.2.c\m.i

The table below describes the different elements that are part of the instruction.

Examples Examples applied to Lexium:

Refer to Explicit exchange language objects, p. 87 for details of the status words.

Element Description

READ_STS Name of the instruction

%CH Channel-type object.

p.2.c Module/channel address and connection point (0.2.c for Lexium)

m Module position (0 for Lexium).

i Channel or MOD number (0 for Lexium).

Object Description

READ_STS%CH\0.2.1\0.MOD Read drive module status.

READ_STS %CH\0.2.1\0.0 Read drive channel status.

58


Debugging screen for Lexium on Fipio accessed via PL7

General It is possible to access the debugging screens of PL7 V4.3 to perform diagnostics for Lexium drives.With PL7 of version prior to V4.3, see Debugging screens for PL7 of version prior to V4.3, p. 71.

Accessing the debugging screen

To access the debugging screens, proceed as follows:

Stage Action

1 Connect to the PLC

2 From the Debug menu, access the Debug screen

3 The following window appears:

1

2

3

4

Power authorized

Unlocked

Movement authorized

Control enabled

0: Speed setpointOPMODE

Stand-alone mode

280 H

Inoperative LexiumDrive status

Position0

Speed0 0.3 rpm

Current0 %o

Fault

Alarm

External encoder position0

0Output 2

0Output 1

0Input 2

0Input 1

Reference In position

External StopOff On

Output 2Input 2

Enabled

Output 1Input 1

Input 3

Input 4

Operate Mode

DRIVECOM

Fast stop

Discrete I/O

Acknowledgment

Analog I/O

Current value

statusServo drive

MHDA 1004 . 00 [FIPIO2 MODULE 0]

Debug

ERR DIAG...RUN IO

MAST

Designation: LEXIUM 17D drive 1.5A Version:

Task: DIAG...

Off OnStop

Speed setpoint

StartSpeed0 0.3 rpm

Channel 0

59


Description The debugging screen is divided into three sections:� a module zone standard to PL7 (1)� a channel zone standard to PL7 (2)� a main zone specific to the Lexium driveThe main zone may differ depending on the operate mode selected from the OPMODE drop-down list. It is broken down into two sections:� a shared screen (3)� a panel specific to the operate mode (4)

There are 8 possible operate modes: � 0: speed setpoint� 1: analog speed� 2: torque setpoint� 3: analog torque� 4: position on external encoder� 5: position setpoint� 8: motion control

� with DIRECT MOVE inactive� with DIRECT MOVE active

These different operate modes are described in the remainder of this chapter.

60


Shared debug screen for Lexium

At a Glance The shared zone of the screen for debugging Lexium using PL7 looks like this:

Power authorized

Unlocked

Movement authorized

Control enabled

0 : Speed setpointOPMODE

Offline mode

280 H

Inoperative LexiumDrive status

Position0

Speed0 0.3 rpm

Current0 %o

Fault

Alarm

External encoder position0

0Output 2

0Output 1

0Input 2

0Input 1

Referenced

External stop

Off On

Output 2Input 2

Enabled

Output 1Input 1

Input 3

Input 4

DRIVECOM Discrete I/O Analog I/O

Current value

statusServo drive

Operate Mode Fast stop Acknowledgment

61


Description

Zone Description

Operate mode This zone consists of:� a drop-down list to select the operate mode (OPMODE)� an "Led" which is orange when the Lexium is in Offline mode

Fast stop This zone consists of:� a switch which can be positioned to:

� OFF to deactivate stop� ON to activate stop

� indication of acknowledgment by Lexium:

� = not active

� = active

Acknowledgment This zone is used to view and acknowledge faults and alarms. It consists of:� an "Led" which turns red to indicate a fault� an "Led" which turns orange to indicate an alarm� two acknowledgment buttons with the following significance:

� = not acknowledged

� = acknowledged

DRIVECOM This zone consists of:� display of the current status of the Lexium (in hexa)� 4 buttons which can be used to change the drive status with the

following significance:

� = not active

� = active

� a text field indicating the status of the drive "in full"

Discrete I/O Zone which displays the state of the discrete I/Os of the Lexium and which has the following significance:

� = 0

� = 1

Analog I/O Zone which displays the values of the 2 analog inputs and the 2 analog outputs (in signed decimal) of the Lexium.

Current value Zone which displays the Position, Speed and Current values of the Lexium as well as the position value for the external encoder (where used). These values are expressed in signed decimal (the unit is indicated to the right of the value).

62


Speed setpoint function

At a Glance A specific panel appears at the bottom of the debug window when the operate mode Speed setpoint is selected. This mode is used to set a speed and start the drive at this speed.

The panel looks like this:

Description This window consists of:

� an entry field for entering the speed setpoint in signed decimal� a drive on/off switch� a button to start the drive at the set speed

StartStop

OnOff

Speed setpoint

Speed

236350 0,3 rpm

63


Analog speed screen

At a Glance A specific panel appears at the bottom of the debug window when the operate mode Analog speed is selected. This mode is used to start the drive at a speed set as +/- 10V via the analog inputs of the drive.



� a drive on/off switch (no effect)� a button to start the drive (no effect)

StartStop

OnOff

Analog speed

64


Torque setpoint screen

At a Glance A specific panel appears at the bottom of the debug window when the operate mode Torque setpoint is selected. This mode is used to set a torque and start the drive at this torque.



� an entry field for entering the current setpoint in signed decimal� a drive on/off switch (no effect)� a button to start the drive with the set torque

StartStop

OnOff

Torque setpoint

Current

‰0

65


Analog torque screen

At a Glance A specific panel appears at the bottom of the debug window when the operate mode Analog torque is selected. This mode is used to start the drive with torque set as a current loop via the analog inputs of the drive.



� a drive on/off switch (no effect)� a button to start the drive (no effect)

StartStop

OnOff

Analog torque

66


Position on external encoder screen

At a Glance A specific panel appears at the bottom of the debug window when the operate mode Position on external encoder is selected. The following error is also displayed in the Current value zone of the shared window. This mode is used with the Electric shaft function (refer to the Lexium user manual).



� a drive on/off switch (no effect)� a drive start button (no effect)� in addition, the following error value is displayed in the Current value zone of the

main window

StartStop

OnOff

Position on external encoder

Current value

0 0.3 rpm0 0/0000 0 0

Referenced In position

Position Speed Current Following error External encoder position

67


Position setpoint screen

At a Glance A specific panel appears at the bottom of the debug window when the operate mode Position setpoint is selected. The following error is also displayed in the Current value zone of the shared window. This mode is used to position the drive at a set value.



� the position to be reached� a drive on/off switch (no effect)� a drive start button (no effect)� in addition, the following error value is displayed in the Current value zone of the

main window

StartStop

OnOff

Position on external encoder

Position

0

Current value

0 0.3 rpm0 ‰0 0 0

Referenced


68


Motion control screens

At a Glance This mode has two sub-modes:� without DIRECT MOVE� with DIRECT MOVEDIRECT MOVE is enabled using the button which appears in the Operate mode zone when: Motion control is selected.Illustration with DIRECT MOVE activated

Without DIRECT MOVE

A specific panel appears at the bottom of the debug window when the operate sub-mode DIRECT MOVE is not active. The following error is also displayed in the Current value zone of the shared window. This mode is used to send a task to be executed by the Lexium. It can also be used to set a reference point and to launch a JOG at a given speed.The panel looks like this:

This window consists of:� a Reference point zone: click on the button to launch the process to set a

reference point. An indicator shows that the reference point is in progress.� a control zone used to launch a task� an on/off switch to stop the motion in progress: Pause� a start button to launch a task� a zone relating to the task to be launched consisting of:

� a task data entry zone for the task to be launched:� a zone displaying the task in progress� two task progress indicators

� a zone relating to the JOG consisting of:� an entry field for entering the JOG speed (VJOG) in signed decimal� a button to start the JOG� a JOG progress indicator

8: Motion controlOPMODE

Offline mode

Operate Mode

DIRECT MOVE

StartAction on edgePauseRestart

Motion control

JOG

VJOG

Measurement

0 0.3 rpm0 ‰0 0 0



TaskReference point

Launch

In progress

Task controlled

0

0Task in End of current

JOG Activated

0

Setpoint reached

69


� in addition, the following error value is displayed in the Current value zone of the main window

With DIRECT MOVE

A specific panel appears at the bottom of the debug window when the operate sub-mode DIRECT MOVE is active. The following error is also displayed in the Current value zone of the shared window. This mode is used to send different types of movements to be executed by the Lexium. It is also used to set reference points and to make other adjustments detailed below.The panel looks like this:

This window consists of:� a Reference point zone: click on the button to launch the process to set a

reference point. An indicator shows that the reference point is in progress.� a pick list for the following types of movement:

� Absolute� Relative to last setpoint� Relative to current position� Relative to position captured on falling edge� Relative to position captured on rising edge� Relative to IN_POSITION

� an on/off switch� a start button to launch the movement� a zone relating to position and speed consisting of:

� an entry field for entering the position in signed decimal� an entry field for entering the speed in signed decimal� a switch to select display of speed and position in units or in increments� a switch to choose the type of input: analog or setpoint

� a zone relating to acceleration and deceleration consisting of:� an entry field for entering the acceleration in signed decimal� an entry field for entering the deceleration in signed decimal

� a switch to display acceleration and deceleration in mm/s2 or in ms� in addition, the following error value is displayed in the Current value zone of the

main window

Start

Motion control

Measurement

0 0.3 rpm0 ‰0 0 0



Reference point

Launch

In progress

Position 0

Speed

0Type of movement

Absolute 0

Position / Speedin incr.in units

Inputsetpointanalog

0

in msin mm/s2

Acceleration

Deceleration

Setpoint reached

Action on edgePauseRestart

70


Debugging screens for PL7 of version prior to V4.3

General It is possible to access the debugging screen of PL7 to perform bus diagnostics.

Accessing the debugging screen

To access the debugging screens, proceed as follows:

Stage Action

1 Connect to the PLC

2 From the Debug menu, access the Debug screen

3 The following window appears:

The viewable language objects are available in Language objects, p. 81.

File Edit Utilities View Tools PLC Debug Options Window ?PL7 PRO <Untitled> - [ATV16U09M2/50Hz [FIPIO10 MODULE 0]]

Reference Label Symbol Value%IW\0.2.10\0.0.0%IW\0.2.10\0.0.1%IW\0.2.10\0.0.2%IW\0.2.10\0.0.3%IW\0.2.10\0.0.4%IW\0.2.10\0.0.5%IW\0.2.10\0.0.6%IW\0.2.10\0.0.7

3500

0000

128

Inputs

Channel MAST

Debug

RUN ERR IO DIAG...

DIAG...

Designation: ATV16 0.37KW 240V 50 Hz Version: 1.3

Variables Base

71


72

7
Replacement of drive
At a Glance


This chapter deals with the operations to be performed to replace a Lexium drive, if, for example, the drive is defective.



Topic Page

At a Glance 74

LXM_SAVE function 75

LXM_RESTORE function 77

Installation 79

73

Lexium replacement

At a Glance

General This service is only accessible from version 4.3 of PL7.It can be used to save and restore the parameters of the drives on the FIPIO bus.When a drive is defective it is then possible to replace it without having to use UNILINK software.

Principle To perform this operation, two functions are available in PL7 v4.3. These are the functions LXM_SAVE and LXM_RESTORE which enable you to save and restore the parameters and tasks of the Lexium.These functions are available in the PL7 library, in the Lexium family. View of screen:

ADROBJ

EMIS

Name

AR_WSTRING

AR_W

Type

ININ

IN

Nature

Address: ADR# [{r.s}]m.v.e or SYSObject to Read: "MT" or "P"

Content of data to send: %>>

Comment Entry field

PL7: Library Functions ?

OK Cancel

Display the call

LXM_RESTORE ( )

Call format

Parameters of the PROCEDURE:

EventOrphee functions

Time delay functions

Family

1.002.10

2.00

Lib.V.

--

-

App.V.

Lexium 1.00 1.00

LXM_SAVE

Name

save parameters or word>>

Comment

LXM_RESTORE restore parameters or word>>

Function Information:

EF

Parameters

74

Lexium replacement

LXM_SAVE function

At a Glance This function is used to save the parameters or tasks of the Lexium.

Syntax The syntax of this function is as follows:

LXM_SAVE (ADR#\p.2.c\SYS, 'P', %MWx:y, %MWg:h)to save the parameters of the Lexium.

LXM_SAVE (ADR#\p.2.c\SYS, 'MT', %MWx:y, %MWg:h)to save the tasks of the Lexium.

Parameters:

Description of management information:

Parameter Description

ADR#\p.2.c\SYS Address of the connection point of the FIPIO card number c

‘P’ or ‘MT’ Type of object to be saved:� ‘P’ = Parameters� ‘MT’ = Motion Tasks

%MWx:y Word zone where data will be saved

%MWg:h Word zone to which exchange management information will be written (minimum of 14 words)

Word number Most Significant Byte Least Significant Byte

%MWg Exchange number -

%MWg+1 Operation report Communication report

%MWg+2 Timeout Timeout

%MWg+3 Length Length

%MWg+4 - Activity bit

The words %MWg+5 to %MWg+13 are reserved

75

Lexium replacement

Description of reports

Main report descriptions depending on the values returned:

Description Operation report value Communication report value

The address format is incorrect

16#00 16#03

The type of object is different to ‘P’ or ‘MT’

16#00 16#06

The management parameters are less than 14 words long

16#00 16#05

The frame received from the FIPIO card does not contain any data

16#03 16#00

The frame received from the FIPIO card is of an incorrect length

The frame received from the FIPIO card contains the response code FD*

16#01 16#00

The length of the word zone is insufficient to save data**

16#00 16#09

Incorrect response from Lexium

16#32 16#00

Memory capacity of FIPIO card on Lexium exceeded

16#33 16#00

*For example, when another request is being processed**In this case, the minimum number of bytes required to save the data is specified in the word %MWg+3 (see above)

76

Lexium replacement

LXM_RESTORE function

At a Glance This function is used to restore the parameters or tasks of the Lexium.

Syntax The syntax of this function is as follows:

LXM_RESTORE (ADR#\p.2.c\SYS, 'P', %MWx:y, %MWg:h)to restore the parameters of the Lexium.

LXM_RESTORE (ADR#\p.2.c\SYS, 'MT', %MWx:y, %MWg:h)to restore the tasks of the Lexium.

Parameters:

Description of management information:

Parameter Description

ADR#\p.2.c\SYS Address of the connection point of the FIPIO card number c

‘P’ or ‘MT’ Type of object to be restored:� ‘P’ = Parameters� ‘MT’ = Motion Tasks

%MWx:y Word zone where the data is stored and from which they will be restored

%MWg:h Word zone to which exchange management information will be written (minimum of 14 words)

Word number Most Significant Byte Least Significant Byte

%MWg Exchange number -

%MWg+1 Operation report Communication report

%MWg+2 Timeout Timeout

%MWg+3 Length Length

%MWg+4 - Activity bit

The words %MWg+5 to %MWg+13 are reserved

77

Lexium replacement

Description of reports

Main report descriptions depending on the values returned:

Description Operation report value Communication report value

The address format is incorrect

16#00 16#03

The type of object is different to ‘P’ or ‘MT’

16#00 16#06

The management parameters are less than 14 words long

16#00 16#05

The frame received from the FIPIO card does not contain any data

16#03 16#00

The frame received from the FIPIO card is of an incorrect length

The frame received from the FIPIO card contains the response code FD*

16#01 16#00

The length of the word zone where the data is stored is insufficient**

16#00 16#0A

The checksum of the word zone where the data is stored is incorrect

16#30 16#00

The type of Lexium on the FIPIO bus is different to that whose parameters have been saved

16#31 16#00

Incorrect response from Lexium

16#32 16#00

Memory capacity of FIPIO card on Lexium exceeded

16#33 16#00

Incorrect type of memory zone

16#34 16#00

*For example, when another request is being processed**In this case, the minimum number of bytes required to restore the data is specified in the word %MWg+3 (see above)

78

Lexium replacement

Installation

General The procedure to be followed to implement the defective drive replacement function is described below.


Procedure to be followed in the event of Lexium failure:

Example of a possible program

Example of how to program the function:

! (* SAVE PARAMETERS *) IF %M0 THEN LXM_SAVE(ADR#\0.2.1\SYS,’P’,%MW500:780,%MW100:14); RESET %M0;END_IF;! (* RESTORE PARAMETRES *) IF %M1 THEN LXM_RESTORE(ADR#\0.2.1\SYS,’P’,%MW500:780,%MW100:14); RESET %M1;END_IF;! (* SAVE TASK *) IF %M2 THEN LXM_SAVE(ADR#\0.2.1\SYS,’MT’,%MW500:120,%MW100:14); RESET %M2;END_IF;! (* RESTORE TASK *) IF %M3 THEN LXM_RESTORE(ADR#\0.2.1\SYS,’MT’,%MW500:120,%MW100:14); RESET %M3;END_IF;

Save parameters and tasks of Lexium in the PLC application

Run drive hardware fault detection

Replace defective drive

Adjust drive address on front panel

Restore parameters and tasks of drive from PLC application

79

Lexium replacement

80

8
Language objects
At a Glance


This chapter provides the lists of Lexium language objects on FIPIO, that can be addressed by PL7.



Note: In this chapter, features specific to versions of PL7 higher than or equal to V4.3 are marked: V4.3

Topic Page

Implicit exchange language objects 82

Explicit exchange language objects 87

81

Language objects

Implicit exchange language objects

Bit objects Error bits:

Status variables The status variables for Lexium drives are as follows:

Object Function

%I\p.2.c\0.0.MOD.ERR Module error bit

%I\p.2.c\0.0.ERR Channel error bit

Symbol (V4.3) PL7 object V4.3 PL7 object V4.2 Meaning

ZSW %IW\p.2.c\0.0.0 %IW\p.2.c\0.0.0 Drive status (see below)

STATCODE_1 %IW\p.2.c\0.0.1 %IW\p.2.c\0.0.1 Alarm (details of word: see %MW\0.2.c\0.0.3)

STATCODE_2 %IW\p.2.c\0.0.2 %IW\p.2.c\0.0.2 Alarm (details of word: see %MW\0.2.c\0.0.4)

ERRCODE_1 %IW\p.2.c\0.0.3 %IW\p.2.c\0.0.3 Error (details of word: see %MW\0.2.c\0.0.5)

ERRCODE_2 %IW\p.2.c\0.0.4 %IW\p.2.c\0.0.4 Error (details of word: see %MW\0.2.c\0.0.6)

TRJSTAT_1 %IW\p.2.c\0.0.5 %IW\p.2.c\0.0.5 Status (see below)

TRJSTAT_2 %IW\p.2.c\0.0.6 %IW\p.2.c\0.0.6 Status (see below)

PFB %ID\p.2.c\0.0.7 %IW\p.2.c\0.0.7 and%IW\p.2.c\0.0.8

Position (in user units)

V %IW\p.2.c\0.0.9 %IW\p.2.c\0.0.9 Speed (/0.3 rpm)

I %IW\p.2.c\0.0.10 %IW\p.2.c\0.0.10 Effective current (1/10000 x DIPEAK (A))*

MONITOR1 %IW\p.2.c\0.0.11 %IW\p.2.c\0.0.11 ANAOUT1 value (in mV)

MONITOR2 %IW\p.2.c\0.0.12 %IW\p.2.c\0.0.12 ANAOUT2 value (in mV)

ANIN1 %IW\p.2.c\0.0.13 %IW\p.2.c\0.0.13 Analog In 1

ANIN2 %IW\p.2.c\0.0.14 %IW\p.2.c\0.0.14 Analog In 2

STAT_IO %IW\p.2.c\0.0.15 %IW\p.2.c\0.0.15 Digital I/O Drive Status

PE %ID\p.2.c\0.0.16 %IW\p.2.c\0.0.16 and%IW\p.2.c\0.0.17

Following error (in increments)

TASK_NUMBER %IW\p.2.c\0.0.18 %IW\p.2.c\0.0.18 Current task (Motion Task) number

PFB0 %ID\p.2.c\0.0.19 %IW\p.2.c\0.0.19 and%IW\p.2.c\0.0.20

External coder position (if EXPOS = 2, with EXTMUL, EXTCIN, GEARO, GEARI)

- %IW\p.2.c\0.0.21 to%IW\p.2.c\0.0.31

%IW\p.2.c\0.0.21 to%IW\p.2.c\0.0.31

Reserved

*DIPEAK = 2 x permanent output current (Implementation: General, p. 10)

82

Language objects

Details of drive status word %IW\0.2.c\0.0.0 (ZSW):

Details of status word %IW\p.2.c\0.0.5 (TRJSTAT_1):

Address Meaning

%IW\p.2.c\0.0.0:X0 Ready for start-up

%IW\p.2.c\0.0.0:X1 Drive ready

%IW\p.2.c\0.0.0:X2 Drive running

%IW\p.2.c\0.0.0:X3 Fault present

%IW\p.2.c\0.0.0:X4 Power under voltage

%IW\p.2.c\0.0.0:X5 Setpoint reached (Only in operate modes 0, 2 and 8)

%IW\p.2.c\0.0.0:X6 Drive locked

%IW\p.2.c\0.0.0:X7 Alarm in progress

%IW\p.2.c\0.0.0:X8 Following error in external position command (operate mode 5)

%IW\p.2.c\0.0.0:X9 Reserved

%IW\p.2.c\0.0.0:X10 Setpoint reached (Only in operate modes 4 and 8)

%IW\p.2.c\0.0.0:X11 Threshold reached (Not supported).



%IW\p.2.c\0.0.0:X14 Offline mode


Note: Certain statuses are only valid on bit combinations (see Status diagram, p. 93)

Address Meaning

%IW\p.2.c\0.0.5:X0 INPOS2 output updated

%IW\p.2.c\0.0.5:X1 End of current motion task

%IW\p.2.c\0.0.5:X2 Motion task completed (Toggle)

%IW\p.2.c\0.0.5:X3 to%IW\p.2.c\0.0.5:X15

Reserved

83

Language objects

Details of status word %IW\p.2.c\0.0.6 (TRJSTAT_2):

Address Meaning

%IW\p.2.c\0.0.6:X0 Motion task active

%IW\p.2.c\0.0.6:X1 Reference point reached

%IW\p.2.c\0.0.6:X2 Position = home

%IW\p.2.c\0.0.6:X3 In position

%IW\p.2.c\0.0.6:X4 Rising edge detection on input latch 2

%IW\p.2.c\0.0.6:X5 Reference point active

%IW\p.2.c\0.0.6:X6 JOG move active

%IW\p.2.c\0.0.6:X7 Falling edge detection on input latch 2

%IW\p.2.c\0.0.6:X8 Emergency stop active

%IW\p.2.c\0.0.6:X9%IW\p.2.c\0.0.6:X15

Reserved

84

Language objects

Command variables

The command variables for Lexium drives are as follows:

� Implicit exchange variables O_C, O_P, O_V, O_ACC1, O_DEC1 are used only for the "DIRECT MOVE" function.

� Explicit exchange variables O_ACC1, O_ACC2, O_C, O_DEC1, O_DEC2, O_FN, O_FT, O_P, O_V, O1TRIG, O2TRIG are used only for motion tasks 1 to 255.

Symbol (V4.3) PL7 object V4.3 PL7 object V4.2 Meaning

DRIVECOM %QW\p.2.c\0.0.0 %QW\p.2.c\0.0.0 Command register (see next page)

OPMODE %QW\p.2.c\0.0.1 %QW\p.2.c\0.0.1 Operating mode of drive(see following page)

CMD_POS %QDp0.2.c\0.0.2 %QW\p.2.c\0.0.2 and%QW\p.2.c\0.0.3

Absolute position command (in increments)

CMD_VEL %QW\p.2.c\0.0.4 %QW\p.2.c\0.0.4 Digital velocity command (/0.3 rpm)

CMD_CUR %QW\p.2.c\0.0.5 %QW\p.2.c\0.0.5 Digital current command:(1/10000 x DIPEAK (A))*

VJOG %QDp.2.c\0.0.6 %QW\p.2.c\0.0.6 and%QW\p.2.c\0.0.7

JOG speed command (/0.3 rpm)

MTMUX %QW\p.2.c\0.0.8 %QW\p.2.c\0.0.8 Preset motion task (must be =0 in DIRECT MOVE mode

MOVE %QW\p.2.c\0.0.9 %QW\p.2.c\0.0.9 Motion task number

O_C %QW\p.2.c\0.0.10 %QW\p.2.c\0.0.10 Movement type and unit in MT= 0

O_P %QDp.2.c\0.0.11 %QW\p.2.c\0.0.11 and%QW\p.2.c\0.0.12

Target position of motion task (in increments) in MT=0

O_V %QD\p.2.c\0.0.13 %QW\p.2.c\0.0.13 and%QW\p.2pc\0.0.14

Target speed of motion task in MT=0

O_ACC1 %QW\p.2.c\0.0.15 %QW\p.2.c\0.0.15 Acceleration of motion task ** in MT=0

O_DEC1 %QW\p.2.c\0.0.16 %QW\p.2.c\0.0.16 Deceleration 1 of motion task ** in MT=0

- %QW\p.2.c\0.0.17 to%QW\p.2.c\0.0.31

%QW\0.2.c\0.0.17 to%QW\p.2.c\0.0.31

Reserved

*DIPEAK = 2 x Ioutput permanent (Implementation: General, p. 10)**If O_ACC1 or O_DE1 = 0 -> max value applied

85

Language objects

Bits of word %QW\p.2.c\0.0.0 which are dependent on operate mode:

Operate mode Bit 5 Bit 6 Bit 8 Bit 11

0: Speed setpoint Ramp stop

Authorized setpoint=1VCMD start

Reserved Reserved

2: Torque setpoint Reserved Authorized setpointICMD

Reserved Reserved

1: Analog speed3: Analog torque4: Position on external encoder

Reserved Reserved Reserved Reserved

5: Position setpoint Reserved Start S_SETH - -

8: Motion control� Without Direct Move

(bit 9=0)� With Direct Move

(bit 9=1)

Pause/

Restart

Start motion task

Start JOGstart

stop

Start reference point

Pause/

Restart

Start movement

- -

86

Language objects

Explicit exchange language objects

Command management variables

The command management variables for Lexium drives are as follows:

Status variables The status variables for the drives are as follows:

Details of word %MW\p.2.c\0.0.3 (STATCODE_1):

Object Meaning

%MW\p.2.c\0.0.0 Status: exchange management

%MW\p.2.c\0.0.1 Exchange report

Object Symbol (V4.3) Meaning

%MW\p.2.c\0.0.2 - Channel standard status

%MW\p.2.c\0.0.3 STATCODE_1 Alarm STATCODE_1*

%MW\p.2.c\0.0.4 STATCODE_2 Alarm STATCODE_2*

%MW\p.2.c\0.0.5 ERRCODE_1 Drive error ERRCODE_1*

%MW\p.2.c\0.0.6 ERRCODE_2 Drive error ERRCODE_2*

%MW\p.2.c\0.0.7 FIP ERROR Communication error

%MW\p.2.c\0.0.8 - Reserved

%MW\p.2.c\0.0.9 - Reserved

*see details below

Address Meaning LexiumWarningCode*

%MW\p.2.c\0.0.3:x0 I2T warning n01

%MW\p.2.c\0.0.3:x1 Ballast power n02

%MW\p.2.c\0.0.3:x2 Following error n03

%MW\p.2.c\0.0.3:x3 Response check n04

%MW\p.2.c\0.0.3:x4 Mains phase n05

%MW\p.2.c\0.0.3:x5 Limit switch 1 n06

%MW\p.2.c\0.0.3:x6 Limit switch 2 n07

%MW\p.2.c\0.0.3:x7 Motion task error n08

%MW\p.2.c\0.0.3:x8 No "reference" point value n09

%MW\p.2.c\0.0.3:x9 Positive limit n10

*refer to Lexium documentation for further information

87

Language objects

Details of word %MW\p.2.c\0.0.4 (STATCODE_2):

Details of word %MW\p.2.c\0.0.5 (ERRCODE_1):

%MW\p.2.c\0.0.3:x10 Negative limit n11

%MW\p.2.c\0.0.3:x11 Default values n12

%MW\p.2.c\0.0.3:x12 The FIPIO interface is not functioning correctly n13

%MW\p.2.c\0.0.3:x13 HIPERFACE reference mode n14

%MW\p.2.c\0.0.3:x14 Table error n15

%MW\p.2.c\0.0.3:x15 Reserved n16


%MW\p.2.c\0.0.4:x0 to%MW\p.2.c\0.0.4:x14

Reserved n17...n31

%MW\p.2.c\0.0.4:x15 Beta Version of firmware n32


Address Meaning Lexium ErrorCode*

%MW\p.2.c\0.0.5:x0 Module heatsink overheating F01

%MW\p.2.c\0.0.5:x1 Voltage limit on DC link exceeded F02

%MW\p.2.c\0.0.5:x2 Following error limit exceeded F03

%MW\p.2.c\0.0.5:x3 Return signals missing or inadequate F04

%MW\p.2.c\0.0.5:x4 DC link voltage lower than factory settings (100 V)

F05

%MW\p.2.c\0.0.5:x5 Motor overheating F06

%MW\p.2.c\0.0.5:x6 Internal 24 Vdc fault F07

%MW\p.2.c\0.0.5:x7 Speed limit exceeded F08

%MW\p.2.c\0.0.5:x8 EEPROM checksum error F09

%MW\p.2.c\0.0.5:x9 Flash EPROM checksum error F10

%MW\p.2.c\0.0.5:x10 Motor brake faulty F11

%MW\p.2.c\0.0.5:x11 Motor phase missing F12

%MW\p.2.c\0.0.5:x12 Ambient temperature F13




88

Language objects

Details of word %MW\p.2.c\0.0.6 (ERRCODE_2):

Details of word %MW\p.2.c\0.0.7 (FIP ERROR):

%MW\p.2.c\0.0.5:x13 Fault at drive output stage F14

%MW\p.2.c\0.0.5:x14 Maximum I2T value exceeded F15

%MW\p.2.c\0.0.5:x15 2 or 3 phases missing from power supply F16


%MW\p.2.c\0.0.6:x0 Analog/digital converter error F17

%MW\p.2.c\0.0.6:x1 Regen circuit faulty or incorrectly adjusted F18

%MW\p.2.c\0.0.6:x2 One phase missing from network power supply F19

%MW\p.2.c\0.0.6:x3 Location fault F20

%MW\p.2.c\0.0.6:x4 Processing fault F21

%MW\p.2.c\0.0.6:x5 Short-circuit to ground F22

%MW\p.2.c\0.06:x6 Reserved F23

%MW\p.2.c\0.0.6:x7 Alarm set to error by WMASK F24

%MW\p.2.c\0.0.6:x8 Exchange error F25

%MW\p.2.c\0.0.6:x9 Hard limit error F26

%MW\p.2.c\0.0.6:x10 External trajectory error F27

%MW\p.2.c\0.0.6:x11 Reserved F28

%MW\p.2.c\0.0.6:x12 Network error/Enable Input = 0 F29



%MW\p.2.c\0.0.6:x15 System error F32


Address Meaning

%MW\p.2.c\0.0.7:x0 Shared memory error

%MW\p.2.c\0.0.7:x1 FIP network error

%MW\p.2.c\0.0.7:x2 to%MW\p.2.c\0.0.7:x15

Reserved



89

Language objects

90

9
Operating modes of the drive
At a Glance


This chapter explains the different operating modes of the Lexium drive on FIPIO.



Topic Page

Operate modes of drive 92

Status diagram 93

Unilink forced offline mode 95

Downgraded operating modes 96

91

Lexium operating modes

Operate modes of drive

At a Glance The Lexium drive on a FIPIO bus has the following 7 operate modes:

� 0 : Speed setpoint� 1 : Analog speed� 2 : Torque setpoint� 3 : Analog torque� 4 : Position on external encoder� 5 : Position setpoint� 8 : Motion control

� with DIRECT MOVE inactive� with DIRECT MOVE active

These modes are particularly accessible from the diagnostics screens of PL7 of version V4.3 or later. Refer to Debugging screen for Lexium on Fipio accessed via PL7, p. 59 and Lexium documentation for further information.

92


Status diagram

Status diagram for the standard DriveCom

The Lexium drive can be controlled via FIPIO according to the status diagram for the standard DRIVECOM.

The diagram shown below is adapted to Lexium properties to help programming. Each status represents an internal drive behavior. It possible to change from one status to another by using the command word %QW\0.2.c\0.0.0 (STW). The status of the drive can be viewed using the status word %IW\0.2.c\0.0.0 (ZSW).

Input into the status diagram

Appearance of a fault

Inoperative Lexium Active communication STATUS = 16#00 or 16#20 Faulty Lexium

STATUS = 16#xxx8 or 16#xxxF

Command = 16#80

Lexium switched on and locked STATUS = 16#xx40 or 16#60

Waiting stateSTATUS = 16#xx21 or 16#01

Lexium ready STATUS = 16#xx23

Command = 16#00Command = 16#06

Command =16#06

Emergency stopCommand = 16#0F

Lexium running STATUS = 16#xx27

Lexium in fast stop STATUS = 16#xx07 or 16#03

Drive locked

Drive enabled

Command = 16#00

Command = 16#06Command = 16#07

Command = 16#07

Command = 16#1F

Command = 16#01

Command = 16#00

93


Combinations of bits accepted by the command word (STW):

Combinations of bits accepted by the status word (ZSW):

Note: STATUS = ZSW AND 16#006F

Command Bit 13 Bit 7 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Stop - - - - 1 1 -

Run - - - - 1 1 1

Inhibit voltage - - - - - 0 -

Fast stop (deactivate) - - - - 0 1 -

Fast stop (authorize) - - 0 1 1 1 1

Inhibit operation - - - 0 1 1 1

Authorize operation - - 1 1 1 1 1

Clear Error - 1 - - - - -

Acknowledge Warnings 1 - - - - - -

- = not significant

Command Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Not ready to run 0 - - 0 0 0 0

Impede run 1 - - 0 0 0 0

Ready to run. 0 1 - 0 0 0 1

Ready for operation 0 1 - 0 0 1 1

Operation authorized 0 1 - 0 1 1 1

Operation inhibited 0 - - 1 0 0 0

Error 0 - - 1 0 0 0

Error response 0 - - 1 0 0 0

Fast stop active 0 0 - 0 1 1 1

- = not significant

94


Unilink forced offline mode

Unilink forced offline mode

When the axis is debugged, it is possible to switch to forced offline mode in Unilink.Use the "Enable" command of the Unilink drive to switch to offline mode. If this is done, Fipio data exchanges are stopped and all the commands in Unilink are accessible in the same way as they are in independent operation.Fipio exchanges are reactivated when the "Disable" command of the drive is activated via Unilink.

95


Downgraded operating modes

At a Glance The behavior of FIPIO on Lexium when operating in downgraded mode is specified below.

Operating mode

Operating mode Performance

Stop PLCthe outputs %QW are maintened except %QWp.2.c.0.0:X0 to X3 set to 0

Network fault

Fipio network configuration refused

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10
Theoretical performance
Theoretical performance

Preamble The following provides a review of the cycle times of the FIPIO bus applied to Lexium. For further information on calculating cycle times, refer to the application-specific installation manual, Communication Applications: TLX DS COM PL7 Volume 2.

Network cycle time

The network cycle time for a mono task application is calculated for the following configuration:� the length of bus is 1 Km,� the values corresponding to silence time, slot time and bandwidth are the default

values (automatic mode).For an application where all devices are configured in the same task, the value of the network cycle time of the task, in milliseconds, is obtained using the following formula:

Value of coefficient K for all types of Lexium: 1.5

TCR_TASK = 1,45 + Σ K x number equipements of the same familly( )

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Performance

Example Example of calculation for 2 Lexiums configured in the Mast task:

FIPIO Bus

MAST application processingcycle time

PLC

FIPIO macro cycle

FIPIO card

FIPIO card

Drive 1

Drive 2

Lexium Scan Time

Towards motors

Fip network cycle time:TCR_TSK = 1.45 + (1.5 x 2) = 4.45 msOr approx. 4.5 ms

Lexium Scan Time (typical values):- Cyclic I/O = 5 ms- Messaging = 10 ms

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11
List of variables for Lexium
At a Glance


This chapter contains some of the Lexium variable tables, which can be accessed by the user via messaging.



Topic Page

Lexium variables - General 100

General read/write variables 101

Read/Write semi-logical variables 107

General read only variables 108

Logical variables and status registers in read only 110

Read/Write status registers 111

99


Lexium variables - General

General The following tables show the variables which can be accessed by the user via messaging.

The list is not exhaustive. For a complete list, consult the list of ASCII commands available on the Lexium Motion Tool CD-ROM (ref. AM0 CSW 001V350).

Formats:� W: Word (16 bits)� DW: Double Word (32 bits, least significant first)� F: Floating point (32 bits with the value * 1000)

Example : ASCII GP=0.15, the returned value read will be 150.

The ASCII variables specific to the FIPIO card are described in Configuration parameters, p. 51.

100


General read/write variables

Table of Variables

The general variables which can be read/write accessed by the user are shown below:

Identifier ASCII command

Description Range Default value

Format

001 ACC Acceleration rate 1 to 32767 10 DW

002 ACCR Acceleration ramp (reference point, Jog)

1 to 32767 10 DW

008 ANDB Analog input signal dead band

0 to 10000 0 DW (F)

017 AVZ1 Input 1 filter time constant 0.2 to 100 1 DW (F)

034 DEC Deceleration rate 1 to 32767 10 DW

035 DECDIS Deceleration in case of power outage

1 to 32767 10 DW

036 DECR Deceleration ramp (reference point, Jog)

1 to 32767 10 DW

037 DECSTOP Fast stop ramp 1 to 32767 10 DW

050 ENCIN Encoder input resolution 256, 512, 1024, 2048, ...65536

4096 DW

055 ENCZERO Top zero offset 0 to 4095 0 W

056 EXTMUL External incremental return scale factor

-32768 to 32767

256 W

062 GEARI Number of teeth on gearing input

1 to 32767 8192 W

064 GEARO Number of teeth on gearing output

-32768 to 32767

8192 W

066 GP Position loop: Proportional gain

0.01 to 25 0.15 DW (F)

067 GPFBT Position loop: Control current for Feed Forward

0 to 2.0 1 DW (F)

068 GPFFT Position loop: Feed Forward current

0 to 2.0 1 DW (F)

069 GPFFV Position loop: Feed Forward speed

0 to 2.0 1 DW (F)

070 GPTN Position loop: Integration action time

1 to 200.0 50 DW (F)

101


071 GPV Position loop: Control speed for Feed Forward

0.1 to 60. 3 DW (F)

072 GV Speed loop: Proportional gain

0 to 200.0 1 DW (F)

073 GVFBT Speed loop: First rate return filter time constant

0 to 100 0.4 DW (F)

074 GVFILT Speed loop: proportion of filtering in [%] for GVT2

0 to 100 85 W

075 GVFR Speed loop: PI-Plus term 0 to 1 1 DW (F)

076 GVT2 Speed loop: 2nd time constant

0 to 1000 1 DW (F)

077 GVTN Speed loop: I-integration time

0.2 to 1000 10 DW (F)

090 I2TLIM I2T message 0 to 100 80 W

092 ICONT Nominal current 10% of DICONT to max (DICONT, IPEAK)

Min of DICONT and MICONT

DW (F)

099 IN1TRIG Auxiliary trigger variable for IN1MODE

Long integer

0 DW


Long integer

0 DW


Long integer

0 DW


Long integer

0 DW

110 IPEAK Max application current 20% of DICONT to 2*DICONT

IMAX DW (F)

111 IPEAKN Max application current negative direction

20% of DICONT to 2*DICONT

IMAX DW (F)

113 ISCALE1 Scale factor for analog current command 1

0 to 100 DIPEAK DW (F)

114 ISCALE2 Scale factor for analog current command 2

0 to 100 DIPEAK DW (F)



Format

102


303 KTN Integral action time for the current regulator

0.2 to 10 0.6 DW (F)

132 MAXTEMPE Max. internal temperature drive

10 to 80 70 W

133 MAXTEMPH Cut-out value of the radiator temperature

20 to 85 80 W

134 MAXTEMPM Max. motor temperature. 0 to 6000 1000 DW (F)

142 MICONT Nominal direct current 10% of DICONT,

DICONT DW (F)

143 MIPEAK Peak current limited motor 20% of DICONT,

DIPEAK DW (F)

149 MLGC Adaptive gain of the current regulator (direct current)

0.2 to 1 0.7 DW (F)

150 MLGD Gain of the axis D current regulator for the motor current

0.1 to 1 0.3 DW (F)

151 MLGP Adaptive gain of the peak motor current

0.1 to 1 0.4 DW (F)

152 MLGQ Gain of the axis Q current regulator for the motor current

0.01 to 30 1 DW (F)

156 MPHASE Motor phase, Electrical offset (resolver adjustment)

0 to 360 0 W

160 MRESBW Resolver bandwidth 200 to 800 600 W

163 MSPEED Max. speed limited motor 0 to 12000 3000 DW (F)

165 MTANGLP Current advance 0 to 45 0 W

347 MTMUX OPMode <> 8 MT selection - parameters required

0,192...........255

0 W

167 MVANGLB Advance depending on the rotation speed (Phi initial)

0 to 15000 2400 DW

168 MVANGLF Advance depending on the rotation speed (Phi final)

0 to 45 20 W



Format

103


146 MVANGLP Velocity-Related Commutation Angle

0 to 45 0 W

183 O_ACC1 Acceleration time 1 for MT <>0

1 to 32000 0 W

184 O_ACC2 Acceleration time 2 for MT <>0

1 to 32000 0 W

185 O_C Command variable for MT <> 0

Integer (=word)

- W

186 O_DEC1 Deceleration time 1 for MT <> 0

1 to 32000 0 W

187 O_DEC2 Deceleration time 2 for MT <> 0

1 to 32000 0 W

188 O_FN Next order number for MT <> 0

0,1...180,192...255

0 W

189 O_FT Next order delay for MT <> 0

1 to 32767 0 W

190 O_P Target position for MT <> 0

Long integer

0 DW

191 O_V Target speed for MT <> 0 Long integer

0 DW

176 O1TRIG Auxiliary variable for O1MODE trigger

Long integer

0 DW

179 O2TRIG Auxiliary variable for O2MODE trigger

Long integer

0 DW

193 PBALMAX Maximum ballast power 0-80 (3A); 0-200 (>3A);external 1500

80/200 DW

198 PEINPOS Position error threshold for the in-position band (INPOS)

Long integer

4000 DW

199 PEMAX Max following error Long integer

262144 DW

202 PGEARI Numerator for the Motion Task resolution factor

Long integer

1 DW



Format

104


203 PGEARO Denominator for the Motion Task resolution factor

Long integer

1 DW

213 PTBASE External trajectory time base

1 to 100 4 W

214 PTMIN Minimum acceleration time for the MT

1 to 32767 1 DW

216 PVMAX Max. speed for the MT 0 to Long integer

100 DW

217 PVMAX Max. speed for the MT (negative direction)

0 to Long integer

100 DW

218 OCOPY MT backup copy 0 to 255 - W

226 REFIP Application current in reference point on the mechanical limit

0 to IPEAK IPEAK DW (F)

231 ROFFS Source offset Long integer

0 DW

260 SWE1 Position value for Pos.Reg.1

Long integer

0 DW


Long integer

0 DW


Long integer

0 DW


Long integer

0 DW

278 UID User ID -32768 to 32767

0 W

305 UCOMP No-return compensation -231 to 231 0 DW

284 VBUSMAX Max. bus voltage 30 to 950 900 DW

285 VBUSMIN Min. bus voltage 30 to 800 100 W

289 VJOG Speed in Jog 0 to Long integer

0 DW

290 VLIM System speed limit 0 to MSPEED

3000 DW (F)

291 VLIMN System speed limit (negative direction)

0 to MSPEED

3000 DW (F)



Format

105


295 VOSPD Speed overshoot 0 to 1.2*MSPEED

3600 DW (F)

296 VREF Homing speed 0 to Long integer

0 DW

297 VSCALE1 Scale factor on speed 1 input

0 to 12000 3000 W

298 VSCALE 2 Scale factor on speed 2 input

0 to 12000 3000 W



Format

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Read/Write semi-logical variables

Table of variables

The table of read/write-accessible semi-logical variables is shown below:



Format

003 ACTFAULT Active fault mode 0=var. cut1=deceleration

0 W

162 MSG Message acceptance/refusal

0=refusal1=acceptance of error messages only2=acceptance of all messages

0 W

180 OPMODE Operation mode 0-5, 8 1 W

209 PRBASE Bits by rev 16,20 20 W

211 PROMPT RS232 protocol pre-selection

0=no prompt1=prompt activated2=echo char. and prompt activated3=prompt and checksum activated

1 -

245 SPSET Ramp authorization in Sinus

0=not authorized1=authorized

0 W

255 STOPMODE Dynamic brake management mode

0=no braking1=braking upon fault and/or var. cut

0 W

107


General read only variables

Table of variables

The list of general variables accessible in read only is provided below:



Format

009 ANIN1 Analog In 1 -20000 to 20000

- DW

010 ANIN2 Analog In 2 -20000 to 20000

- DW

039 DICONT Nominal current of the drive

1.5 to 20 Hardware Defined

DW (F)

041 DIPEAK Peak current drive 3.0 to 40 Hardware Defined

DW (F)

088 I Real value of current - - DW (F)

089 I2T RMS average current 0 to 100 - DW

093 ID D component of the real value of the current

- - DW (F)

091 ICMD Setpoint value of current

-2*DICONT to 2*DICONT

- DW (F)

095 IMAX Limit of current for motor and drive combination

0.3 to 40 Min of DIPEAK and MIPEAK

DW (F)

112 IQ Q component of the real value of the current

- - DW (F)

136 MDBCNT Number of motor data sets

1 to 127 - W

154 MONITOR 1 Analog 1 output voltage

-10000 to 10000

- W

155 MONITOR 2 Analog 2 output voltage

-10000 to 10000

- W

192 PBAL Real value of the ballast power

0 to 1500 - DW

197 PE Slave position error Long int - DW

200 PFB Current position checking

Long int - DW

108


210 PRD Measured position hardware counter

0 to 1048575 - DW

215 PV Instantaneous speed of the position regulator

Long int - DW

272 TEMPE Internal Temperature Figure

-20 to 90 - DW

273 TEMPH Real value of the radiator temperature

-20 to 90 - DW

274 TEMPM Motor temperature 0 to 10000 - DW

280 V Measured speed(rpm)

-15000 to 15000

- DW

282 VBUS Bus voltage 0 to 900 - DW

286 VCMD Speed setpoint - - DW (F)

292 VMAX Maximum system load

0 to 12000 - DW (F)



Format

109


Logical variables and status registers in read only

Table of logical variables

The list of logical variables accessible in read only is provided below:

Table of Status registers

The list of status registers accessible in read only is provided below:



Format

004 ACTIVE Power stage activated / deactivated

0=deactivated1=activated

- W

006 AENA Initialization status of software validation

0=inactive1=active

1 W

221 READY Software validation status

0,1 - W



Format

097 IN1 Status of hardware logical input 1

0 (low),1 (high)

- W


0 (low),1 (high)

- W


0 (low),1 (high)

- W


0 (low),1 (high)

- W

109 INPOS Motion task completed in the window configured by PEINPOS

0=not in pos1=in pos

- W

174 O1 Status of hardware logical output 1

0 (low),1 (high)

- W

177 O2 Status of hardware logical output 2

0 (low),1 (high)

- W

181 OPTION Option ID card Int (=word) - W

251 STAT Drive status word Int (=word) - W

110


Read/Write status registers

Table of Status registers

The read/write accessible status registers are listed below:



Format

015 ANZERO1 Analog input zero 1 (ANOFF1)

- - W

016 ANZERO2 Analog input zero 2 (ANOFF2)

- - W

024 CLRFAULT Clear/acknowledge drive error

- - W

306 COLDSTART Reset drive - - W

029 CONTINUE Continue the previous position control order

- - W

043 DIS Software deactivation - - W

048 EN Software activation - - W

115 K Stop (=Deactivate) - - W

131 LOAD Data loading from EPROM to RAM

- - W

141 MH Start reference point - - W

145 MJOG Start Jog - - W

233 RSTVAR Factory adjustment of variables

- - W

234 S Motion stop and drive deactivation

- - W

235 SAVE Saves variables in EPROM from RAM

- - W

240 SETREF Configure a reference point

- - W

241 SETROFFS ROFFS automatic configuration

- - W

254 STOP Stop motion task - - W

322 MOVE Start motion task indicatedStart motion command bit in the DRIVECOM word

0,1 ...180,192...255

- W

111


Request equipment identification

A Lexium identification request can be made using the SEND_REQ instruction in PL7.Code: 16#0F

Example of Syntax:SEND_REQ(ADR#\1.2.1\SYS,16#000F,%MW200:1,%MW300:200,%MW100:4);The response for a Lexium on FIPIO is as follows (in %MB form):

Byte Value Description

%MBn 16#FF type of identification. Always 0xFF.

%MBn+1 16#80 The product family. 80 for FIPIO.

%MBn+2 16#49 Commercial version of drive. In this case V4.9.

%MBn+3 16#14 Drive ASCII string length. Always = 14.

%MBn+4 to%MBn+24

String ASCII string giving the product reference of the drive in 20 characters. The 21st character is equal to 0 (end of string).

%MBn+25 16#08 Number of PLC description bits. Always = 8.

%MBn+26 16#03 Device ready. Always = 3.

%MBn+27 16#00 Status of LEDs of drive. Always = 0 (no LED).

%MBn+28 16#F1 Application type. F1 = FED profile.

%MBn+29 16#11 Product type. 11 = modular product.

%MBn+30 16#04 Catalog reference of drive. In this case 4 for MHDA1004.

%MBn+31 16#00 Base module fault. In this case 0 = no fault.

%MBn+32 16#01 Number of sub-modules. In this case 1 = 1 FIPIO card.

%MBn+33 16#00 Sub-module address. Always = 0 for FIPIO card.

%MBn+34 16#10 Firmware Version of FIPIO card. In this case V1.0.

%MBn+35 16#14 FIPIO card ASCII string length. Always = 20.

%MBn+36 to%MBn+56

String ASCII string giving the product reference of the FIPIO card in 20 characters. The 21st character is equal to 0 (end of string).

%MBn+57 16#08 Number of FIPIO card state description bits. Always = 8.

%MBn+58 FIPIO card state:

16#00 0 = Card not configured

16#01 1 = Card running

16#02 2 = Card stopped

16#03 3 = Communication fault

16#04 4 = DPRAM fault

112


%MBn+59 Status of COM (most significant) and ERR (least significant) LEDsE.g.: 16#40 = COM flashing and ERR off

16#x0 0 = Off

16#x4 4 = Flashing

16#x8 8 = Fixed

%MBn+60 16#2F Application type of FIPIO card.

%MBn+61 16#01 Product type of FIPIO card.

%MBn+62 16#05 Catalog reference of FIPIO card. In this case 5 for AM0 FIP.

%MBn+63 FIPIO card faults:

16#00 0 = No fault.

16#01 1 = DPRAM fault

16#02 2 = FIP communication fault

Byte Value Description

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114

CBIndex

AAddressing

FIPIO Bus, 39Assembly precautions, 17

CCompatibility, 10Compatibility with standards, 11Configuration via UNILINK

FIPIO, 51

IIntroduction to the Option card, 10

LLanguage objects

Explicit exchange, 87Implicit exchange, 82

PPremium command station, 38Preparation of cables, 21Presentation flow chart, 12

RReferences of Fipio accessories, 18

SStatus diagram, 93Status of LEDs, 56

TTSX PF ACC 4, 28

UUsing messaging, 48

"READ_VAR" function, 48"WRITE_VAR" function, 49

115

Index

116

LEXIUM Communication by Fipio

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