PowerDRIVE/-Box GEL 6110/6505 FB

Right to technical changes and errors reserved. 04-2017

D-0

2R-L

B_6

505_

xxxx

(1.

1)PowerDRIVE-LibLB_6505_xxxxfor STEP 7 / TIA-Portal, RSLogix / Studio 5000,Automation Studio 4, TwinCAT 3,CODESYS V3 / SoMachine V4

... automates motion.

LENORD+BAUER

Description of the data and function block library

StatusActPosInActVelInNomPosInNomVelInHomeValSetHomeLoopDistanceNumDenomDirectionEnableStartPosStopPosJogFwd JogRev

ControlNomPosOutNomVelOutActPosOutActVelOut

HomingDone

ReadyBusy

InPosWarning

Fault

WORD

DWORD

DWORD

DINT

DINT

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

WORD

DWORD

DWORD

DINT

DINT

DINT

BOOL

DINT

DINT

DINT

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

PDS_Axis_Ctrl

D

D

DWORD

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BYTE

BYTE

WORD

Control

P1_EF_EN

P1_EF_OK

P1_Link_OK

P2_EF_EN

P2_EF_OK

P2_Link_OK

P3_EF_EN

P3_EF_OK

P3_Link_OK

P4_EF_EN

P4_EF_OK

P4_Link_OK

P5_EF_EN

P5_EF_OK

P5_Link_OK

Power

Manual

Error

Error_Source

Error_Group

Error_Info

Status

ERR

P1_EN_EFuse

P1_Reset_EF

P2_EN_EFuse

P2_Reset_EF

P3_EN_EFuse

P3_Reset_EF

P4_EN_EFuse

P4_Reset_EF

P5_EN_EFuse

P5_Reset_EF

PB_Reset_ERR

DWORD

DWORD

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

PDS_Box_Ctrl

CANopen, EtherNet IP, EtherCAT, Powerlink,

PROFIBUS-DP, PROFINET IO, Sercos III

2 LB_6505_xxxx

Device manufacturer and publisher:

Lenord, Bauer & Co. GmbHDohlenstraße 3246145 Oberhausen ● GermanyPhone: +49 208 9963–0 ● Fax: +49 208 676292Internet: www.lenord.com ● E-Mail: [email protected]

Doc. no. D-02R-LB_6505_xxxx (1.1)

https://www.lenord.com

mailto:[email protected]

Lenord + Bauer Table of contents

LB_6505_xxxx 3

Table of contents

1 About these instructions ................................................................................. 51.1 Scope ....................................................................................................... 51.2 Copyright ................................................................................................. 51.3 Relevant documents ................................................................................ 61.4 Target group ............................................................................................ 61.5 Markings .................................................................................................. 61.6 Terminology and abbreviations ................................................................ 6

2 Description ....................................................................................................... 82.1 Information on using the function blocks ................................................. 82.2 FB for Box control .................................................................................... 8

2.2.1 Inputs and outputs used .............................................................. 92.2.2 Enabling the power circuit supply for a drive ............................ 102.2.3 Reading errors .......................................................................... 11

2.3 FB for drive control ................................................................................ 122.3.1 Inputs and outputs used ............................................................ 122.3.2 Scaling ...................................................................................... 132.3.3 Positioning ................................................................................ 132.3.4 Manually controlled movement (jogging) .................................. 142.3.5 Specification of the reference value (homing) ........................... 142.3.6 Loop movement ........................................................................ 14

3 STEP 7 / TIA-Portal ........................................................................................ 153.1 General .................................................................................................. 153.2 PDS_Box_Ctrl ........................................................................................ 163.3 PDS_Axis_Ctrl ....................................................................................... 183.4 PDS_RW_PAR ...................................................................................... 20

4 RSLogix 5000 / Studio 5000 .......................................................................... 214.1 General .................................................................................................. 214.2 PDS_Box_Ctrl ........................................................................................ 224.3 PDS_Axis_Ctrl ....................................................................................... 24

5 Automation Studio 4 ...................................................................................... 275.1 General .................................................................................................. 275.2 PDS_Box_Ctrl ........................................................................................ 275.3 PDS_Axis_Ctrl ....................................................................................... 295.4 PDS_RW_PAR ...................................................................................... 31

6 TwinCAT 3 ...................................................................................................... 336.1 General .................................................................................................. 336.2 PDS_Box_Ctrl ........................................................................................ 336.3 PDS_Axis_Ctrl ....................................................................................... 356.4 PDS_RW_PAR_xx ................................................................................ 37

6.4.1 PDS_RW_PAR_EtherCAT ....................................................... 376.4.2 PDS_RW_PAR_CANopen ........................................................ 386.4.3 PDS_RW_PAR_PROFIBUS ..................................................... 39

7 CODESYS V3 / SoMachine V4 ....................................................................... 407.1 General .................................................................................................. 40

Table of contents Lenord + Bauer

4 LB_6505_xxxx

7.2 PDS_Box_Ctrl ........................................................................................ 407.3 PDS_Axis_Ctrl ....................................................................................... 427.4 Acyclic data exchange ........................................................................... 44

Lenord + Bauer 1 About these instructionsScope

LB_6505_xxxx 5

1 About these instructions

The program library aids the integration of the PowerDRIVE-System into the machinecontrol system. It contains the necessary data and function blocks required to controlthe system via a PLC. The primary blocks for controlling the PowerDRIVE-Box andthe PowerDRIVE positioning drives are described in this document.

You can request the current program libraries and programming examplesfrom Lenord+Bauer at [email protected] .The files are sent as .zip files.

The procedure for integrating the function blocks is dependent on the control systemand the programming environment.

1.1 Scope

This document applies to the programming environments stated below and the inter-faces implemented

InterfaceSTEP 7

TIA-PortalRSLogix 5000Studio 5000

AutomationStudio 4

TwinCAT 3CODESYS V3SoMachine V4

CANopen – – – ✓ ✓EtherCAT – – – ✓ ✓Ethernet/IP – ✓ – – ✓PROFINET IO ✓ – – – ✓PROFIBUS-DP ✓ – – ✓ ✓Powerlink – – ✓ – –

Sercos III – – – – ✓

Due to the large number of different control systems, the correct function of theblocks is to be checked in the specific case.

The blocks for controlling the drives are designed for PowerDRIVEs of typeGEL 6110, GEL 6109, GEL 6113.

1.2 Copyright

The programming environments and interfaces identified in this document are theregistered trade marks / marks of the related manufacturer.

mailto:[email protected]

1 About these instructions Lenord + BauerRelevant documents

6 LB_6505_xxxx

1.3 Relevant documents

The following separate documents supplement this document and are to be read be-fore integration:

● Reference manuals for the interface usedDescribes the commissioning and the configuration of the devices in the relatednetwork and contains the description of the parameters and process data neces-sary for control.

1.4 Target group

This manual is aimed at the developers of applications programs who have experi-ence with the integration of function blocks in programmable logic controllers. Thefunction blocks are only allowed to be integrated by qualified personnel; the person-nel must

● Be trained in setting the parameters and integrating program blocks into program-mable logic controllers.

● Have advanced specialist knowledge of the topology, function and mechanismsof industrial networks.

● Have system knowledge on the drive control.

● Be familiar with and follow all relevant standards, regulations and safety rules.

1.5 Markings

Information for correct operation

Information for understanding

1.6 Terminology and abbreviations

Drive PowerDRIVE positioning drive

Separate drive PowerDRIVE integrated directly into the network

Box PowerDRIVE-Box

DPV1 Drive control using ProfiDrive device profileas per PROFIBUS Nutzerorganisation e. V.

DS402CiA 402

Drive control using CiA 402 device profileas per CAN in Automation e. V.

eFuse Electronic fuse,protects the power circuit for a drive on the Box

DB Data Block

FB Function Block

Lenord + Bauer 1 About these instructionsTerminology and abbreviations

LB_6505_xxxx 7

LB Library, block library for the PowerDRIVE-System

PLC Programmable logic controller, machine control system

2711 Parameter applies to drive 1 on the Box; for drive 2 to 5 add offset(see Reference manual)

0↑1 Positive edge, state change from FALSE to TRUE

2 Description Lenord + BauerInformation on using the function blocks

8 LB_6505_xxxx

2 Description

Two function blocks are required to control the PowerDRIVE-System with Box and amaximum of 5 positioning drives: PDS_Box_Ctrl, PDS_Axis_Ctrl. Only the PDS_Ax-is_Ctrl block is required to control a separate drive. The blocks are used for the cyclicexchange of process data. The behaviour of the FBs is identical for all interfaces andprogramming environments.

Depending on the interface, the state machine for the drives is controlled via the de-vice profile CiA 402 (CAN in Automation) or DPV1 (ProfiDrive).

The functionality of the main blocks does not differ.

For the acyclic data exchange, the block PDS_RW_PAR is used for most program-ming environments; all device parameters can be queried or written using this block.

2.1 Information on using the function blocks

The parameters in the reference manuals on the interface are stated as hexa-decimal values. On adding the parameters to the block, pay attention to thecorrect format.

● Only use the block PDS_RW_PAR for reading and writing parameters acyclically.

● You will find information on the hardware identification code and the lowest inputaddress for PROFIBUS-DP and PROFINET IO in the hardware configuration.

● On adding inputs and outputs to the FB, pay attention to the correct mapping.

● New nominal values for position and velocity are only applied with StartPos.

2.2 FB for Box control

The FB generates the control word depending on the FB inputs. The FB outputs thestate signals and messages.

● Switch on and reset of the eFuse for each drive (port)

● Acknowledgment of last error message

● Process data exchange between PLC and box

● State of eFuse and internal communication between box and each drive

● Last error message

● State of power supply

● State of commissioning mode

Lenord + Bauer 2 DescriptionFB for Box control

LB_6505_xxxx 9

2.2.1 Inputs and outputs used

Inputs

Status PowerDRIVE Box status word (1)

ERR Last Error (1)

P1_EN_EFuse Port 1 Enable eFuse

P1_Reset_EF Port 1 Reset eFuse

⋮

P5_EN_EFuse Port 5 Enable eFuse

P5_Reset_EF Port 5 Reset eFuse

PB_Reset_ERR Reset Box Error

Outputs

Control PowerDRIVE Box Control Word (1)

P1_EF_EN Port 1 eFuse enabled

P1_EF_OK Port 1 eFuse OK

P1_Link_OK Port 1 Communication OK

⋮

P5_EF_EN Port 5 eFuse enabled

P5_EF_OK Port 5 eFuse OK

P5_Link_OK Port 5 Communication OK

Power Power supply

Manual Manual mode active

Error Error state

Error_Source Error source

Error_Group Error group

Error_Info Error information

(1) Part of the process data

2 Description Lenord + BauerFB for Box control

10 LB_6505_xxxx

2.2.2 Enabling the power circuit supply for a drive

Only if the eFuse is switched on and has not tripped can the power for the power cir-cuit be connected through to the related drive by the Box. For each drive (1…5) therelated eFuse can be switched on or the state of the eFuse reset via the FB.

The following conditions must be met to position a drive:

Example for drive 1

Status word FB output Significance

Bit 0 = 1 P1_EF_EN = TRUE eFuse is switched on

Bit 1 = 1 P1_EF_OK = TRUE eFuse is in order (no error)

Bit 2 = 1 P1_Link_OK = TRUEInternal communication between Box and driveis in order

Bit 15 = 1 Power = TRUE Power supply is in order

For drive 2 to 5 the states of bits 0 to 2 and the FB outputs are similar.

The eFuse for the related drive is reset or switched on via the inputs Px_Reset_EF andPx_EN_EFuse.

If an error has occurred, Px_EF_OK changes from TRUE to FALSE. Resetting theeFuse via the input Px_Reset_EF automatically switches off the eFuse (P1_EF_EN =FALSE). The eFuse must be switched on again after the reset.

Lenord + Bauer 2 DescriptionFB for Box control

LB_6505_xxxx 11

2.2.3 Reading errors

The Box errors read are coded as follows:

Error type (hex) Significance

Group Code Q

001 Electronic fuse (eFuse):

0000 x Programmed I2t threshold exceeded for longer than 2 s

0001 x Max. shutdown current reached (13 A per channel)

0002 x Power circuit voltage too low

0003 x Max. total current exceeded

0004 x No device communication

0005 x No connection to the PLC

002 0000 x Fieldbus module

003 0000 x Internal communication

004 0000 x Peripherals (buttons, LEDs, EEPROM)

005 0000 x Bus communication Box to drives

006 Drive, EMCY telegram:

3210 x Overvoltage

3220 x Undervoltage

4110 x Ambient temperature too high

4410 x Power supply unit temperature too high

5530 x EEPROM error

7300 x Sensor error

8611 x Lag error excessive

007 0000 x Timing error in the operating system

Q ⇒ Source of error

with x = 0: Box 2: Drive Ⅱ 4: Drive Ⅳ 1: Drive Ⅰ 3: Drive Ⅲ 5: Drive Ⅴ

Group 002 / 003 / 004 / 007 error ⇒ rectify by resetting the Box.

Group 001 / 005 / 006 error ⇒ check cause and rectify.

2 Description Lenord + BauerFB for drive control

12 LB_6505_xxxx

2.3 FB for drive control

The FB generates the control word required for the state machine depending on theFB inputs. The FB outputs state signals and messages.

● Process data processing (status word, control word, position, velocity)

● Scaling by setting the numerator, denominator and direction

● Positioning, stopping and manually controlled movement (jogging)

● Specification of any reference value (homing)

● Approaching the position from the same direction (loop movement to compensatefor spindle play)

● Release of drive control

● Acknowledgment of errors

2.3.1 Inputs and outputs used

Inputs

Status Drive Status Word (1)

ActPosIn Actual Position In (2)

ActVelIn Actual Velocity In (2)

NomPosIn Nominal Position In

NomVelIn Nominal Velocity In

HomeValue Home Value

SetHome Set Home

LoopDistance Loop Distance

Num Numerator

Denom Denominator

Direction Direction

StartPos Start Positioning

StopPos Stop Positioning

JogFwd Jogging Forward

JogRev Jogging Backward

Outputs

Control Drive Control Word (2)

NomPosOut Nominal Position Out (2)

NomVelOut Nominal Velocity Out (2)

(1) Part of the process data

Lenord + Bauer 2 DescriptionFB for drive control

LB_6505_xxxx 13

ActPosOut Actual Position Out

ActVelOut Actual Velocity Out

HomingDone Homing Done

Ready Ready

Busy Busy

InPos In Position

Warning Warning

Fault Error

2.3.2 Scaling

The resolution of the position and velocity parameters is adjusted using the Numera-tor and Denominator. In this way the pitch on the spindle is taken into account duringpositioning.

ActPosOUT = ActPosIN * Num Denom

ActVelOUT = ActVelIN * Num Denom

NomPosOUT = NomPosIN *DenomNum

NomVelOUT = NomVelIN *DenomNum

NomPosOUT = HomeVal *DenomNum

Homing:

Positioning:

Integers are to be entered. Negative signs are ignored. If zero is set for one variable,both variables are set internally to the value 1. There is no practical change to thevalues.

The Direction input is used to define whether the actual values for the position rise orfall with clockwise rotation. The specification of the direction is applied using StartPos(initialisation phase). Any change will cause the movement in progress to be cancel-led

2.3.3 Positioning

Inputs Output (on drive)

● NomPosIn

● NomVelIn

● LoopDistance

● StartPos

● StopPos

● Control

● NomPosOut

● NomVelOut

The values for position, velocity and loop movement specified on the inputs are pro-cessed and provided to the output variables for position and velocity. Positioning isstarted using the control word and the Busy output is set. This is also the case whilepositioning is in progress.

2 Description Lenord + BauerFB for drive control

14 LB_6505_xxxx

Once the drive has reached the position, it signals this situation in the status wordand the InPos output is set.

2.3.4 Manually controlled movement (jogging)

Manually controlled movement is used for setting up the machine axis and is initiatedusing the JogFwd or JogRev input.

Jogging should be realised using a pressed push-button to prevent uninten-tional or continuous movement of the drive.


● NomVelIn

● JogFwd

● JogRev

● Control

● NomVelOut

The velocity specified on the NomVelIn input is provided on the NomVelOut outputand the manually controlled movement carried out in the related direction. The Busyoutput is set. The movement ends when the input changes back to “0”.

If JogFwd and JogRev are both set to “1”, there is no manually controlled movement.

The inputs have no effect during a positioning process.

2.3.5 Specification of the reference value (homing)


● HomeVal

● SetHome

● Control

● NomPosOut

On the positive edge on the SetHome bit, the reference value specified on the Home-Value input is applied as the position actual value. If the reference position has beenapplied by the drive, the HomingDone output is set.

The input is only effective with the drive at standstill, no other control input exceptEnable is allowed to be switched.

2.3.6 Loop movement

Loop movement ensures that the destination position is always approached from thesame direction. If the destination position lies in the required movement direction,loop movement is not used. On positioning from the opposite direction, the blockgenerates a fictive nominal position via Loop Distance. Once the drive reaches the fic-tive destination, the block reverses the direction and specifies to the drive the nomi-nal position from NomPosIn. In this way the drive moves past to the nominal positionby the distance set in Loop Distance, stops and then moves to the position from Nom-PosIn.

Lenord + Bauer 3 STEP 7 / TIA-PortalGeneral

LB_6505_xxxx 15

3 STEP 7 / TIA-Portal

Program files available:● LB_6505_STEP7.zip STEP 7 library

● LB_6505_TIA.zip TIA-Portal library

● BP_6505_TIA.zip TIA-Portal examples

● LB_6505_SCOUT.zip SCOUT TIA library

3.1 General

The PROFIBUS-DP and PROFINET IO interfaces are implemented for STEP 7 andTIA-Portal. The drives are controlled according to the device profile DPV1.

Main blocksFC65 PDS_Box_Ctrl

Cyclic exchange of process data with a Box

FB32 PDS_Axis_CtrlCyclic exchange of process data with a drive

FB17 PDS_RW_PARAcyclic exchange of parameters for a Box or a drive

To use the libraries, the related file is opened and the FBs copied to the user project(e.g. SIMATIC Manager).

3 STEP 7 / TIA-Portal Lenord + BauerPDS_Box_Ctrl

16 LB_6505_xxxx

3.2 PDS_Box_Ctrl (FC65, Version 2.1)

Function: Control of a Box (→ page 8)

DWORD

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BYTE

BYTE

WORD

Control

P1_EF_EN

P1_EF_OK

P1_Link_OK

P2_EF_EN

P2_EF_OK

P2_Link_OK

P3_EF_EN

P3_EF_OK

P3_Link_OK

P4_EF_EN

P4_EF_OK

P4_Link_OK

P5_EF_EN

P5_EF_OK

P5_Link_OK

Power

Manual

Error

Error_Source

Error_Group

Error_Info

Status

ERR

P1_EN_EFuse

P1_Reset_EF

P2_EN_EFuse

P2_Reset_EF

P3_EN_EFuse

P3_Reset_EF

P4_EN_EFuse

P4_Reset_EF

P5_EN_EFuse

P5_Reset_EF

PB_Reset_ERR

DWORD

DWORD

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

PDS_Box_Ctrl

Inputs

Designation Value Significance

Status State word for the Box

ERR Last error in the Box

P1_EN_EFuse TRUE Switch on eFuse for drive 1

P1_Reset_EF TRUE Reset eFuse for drive 1

⋮



PB_Reset_ERR 0↑1 Reset last error

Lenord + Bauer 3 STEP 7 / TIA-PortalPDS_Box_Ctrl

LB_6505_xxxx 17

Outputs


Control Control word for the Box

P1_EF_EN TRUE eFuse for drive 1 switched on (LED1 illuminates green)

FALSE eFuse for drive 1 switched off (LED1 illuminates red)

P1_EF_OK TRUE eFuse for drive 1 in order (LED2 illuminates green)

FALSE eFuse for drive 1 has tripped (LED2 illuminates red)

P1_Link_OK TRUE Communication to the drive in order (LED3 illuminatesgreen)

⋮






Power TRUE Power supply for power circuits in order

Manual TRUE At least one drive is in the commissioning mode

Error TRUE Error message present

Error_Source 0 to 5 Source of error (→ page 11)

0 = Box, 1-5 = drive 1 to 5

Error_Group 1 to 7 Error group (→ page 11)(1)

Can be read from parameter 228.

Error_Info 1 Error code (→ page 11)(2)


(1) If Error_Group is 0, no error occured.(2) Error_Info contains the error code of group 1 and 6, otherwise 0 ist output.

3 STEP 7 / TIA-Portal Lenord + BauerPDS_Axis_Ctrl

18 LB_6505_xxxx

3.3 PDS_Axis_Ctrl (FB32)

Function: Controlling a drive via the Box or as a separate drive (→ page 12)

This block replaces the former blocks FB25 and FB30.

WORD

DWORD

DWORD

DINT

DINT

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

WORD

DWORD

DWORD

DINT

DINT

DINT

BOOL

DINT

DINT

DINT

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

PDS_Axis_Ctrl



HomingDone

ReadyBusy

InPosWarning

Fault

Inputs


Status State word received from the drive

ActPosIn Position actual value received from the drive

ActVelIn Speed actual value received from the drive

NomPosIn Destination position (specification of nominal value)

NomVelIn Final velocity (specification of nominal value)(1)

HomeValue Specification of the reference position (→ page 14)

SetHome 0↑1 Apply HomeValue as position actual value

LoopDistance Specification of the distance for a loop movement(→ page 14)

>0 Move to destination in positive direction

<0 Move to destination in negative direction

0 Move directly to destination

Num Numerator (2) (→ page 13)

(1) Value must be greater than zero, otherwise the drive does not move.(2) Integer value for adapting the position values to the application.

Lenord + Bauer 3 STEP 7 / TIA-PortalPDS_Axis_Ctrl

LB_6505_xxxx 19


Denom Denominator (1) (→ page 13)

Direction Specification of the direction of movement; is applied usingEnable, any change will cause a movement to be cancelled(→ page 13)

FALSE Positive nominal and actual values for clockwise rotation

TRUE Negative nominal and actual values for clockwise rotation

Enable TRUE Enable for positioning, jogging or homing; application of thedirection of movement

FALSE Inhibit for all functions, place drive in “Switching On Inhibi-ted” (S1) stateAcknowledge an existing error message

StartPos 0↑1 Start positioning process (→ page 13)

StopPos TRUE Positioning process in progress is cancelled and start inputinhibited.

JogFwd 0↑1 Forward manually controlled movement (→ page 14)

JogRev 0↑1 Reverse manually controlled movement (→ page 14)

Outputs


Control Control word to be transferred to the drive

NomPosOut Nominal position to be transferred to the drive

NomVelOut Nominal velocity to be transferred to the drive

ActPosOut Output of the position actual value of the drive taking intoaccount the direction of positioning

ActVelOut Output of the velocity actual value of the drive taking intoaccount the direction of positioning

HomingDone TRUE Set Home undertaken successfully

Ready TRUE Drive is ready

Busy TRUE Positioning, Homing or Jogging is being undertaken

InPos TRUE Destination position reached

Warning TRUE Warning present (bit 7 of the state word set)The warning code can be read from parameter 172.

Fault TRUE Error present (bit 3 of the state word set).The error code can be read from parameter 171.

(1) Integer value for adapting the position values to the application.

3 STEP 7 / TIA-Portal Lenord + BauerPDS_RW_PAR

20 LB_6505_xxxx

3.4 PDS_RW_PAR

Function: Read and write parameter data in the acyclic data exchange using thesystem blocks

● SFB52 (RDREC)

● SFB53 (WRREC)

This block is only allowed to be used once in the program.

BOOL

DINT

DINT

DINT

DINT

DWORD

Done

DataOUT_0

DataOUT_1

DataOUT_2

DataOUT_3

Status

Enable

Write

Index

Length

DataIN_0

Adr

BOOL

BOOL

INT

INT

DINT

WORD

PDS_RW_PAR

Inputs


Enable TRUE Enable for the communication

Write TRUE Write data

FALSE Read data

Index Number of parameters to be transferred

Length Number of bytes to be sent/received (4/16)

DataIN_0 Parameter value to be changed

Adr For S7-300 lowest module address,otherwise hardware identification code for the module(status word)

Outputs


Done TRUE Completion message from the FB

DataOUT_0 Actual parameter value read

DataOUT_1 Minimum parameter value read

DataOUT_2 Maximum parameter value read

DataOUT_3 Default parameter value read

Status Status code for the system block SFB52 or SFB53

Lenord + Bauer 4 RSLogix 5000 / Studio 5000General

LB_6505_xxxx 21

4 RSLogix 5000 / Studio 5000

Program files available:● LB_6505_RSLogix.zip library

● BP_6505_RSLogix.zip examples

4.1 General

The EtherNet-IP interface is implemented for RSLogix and Studio 5000. The drivesare controlled according to the device profile CiA 402.

Main blocksPDS_Box_Ctrl Cyclic exchange of process data with a Box

PDS_Axis_Ctrl_Box Cyclic exchange of process data with a drive connected to theBox

PDS_Ax-is_Ctrl_Drive

Cyclic exchange of process data with a separate drive

The acyclic data exchange is undertaken via so-called message boxes that are con-figured in dialog boxes.

4 RSLogix 5000 / Studio 5000 Lenord + BauerPDS_Box_Ctrl

22 LB_6505_xxxx

4.2 PDS_Box_Ctrl


INT[29]

INT[29]

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

INT

INT

INT

P1_EF_EN

P1_EF_OK

P1_Link_OK

P2_EF_EN

P2_EF_OK

P2_Link_OK

P3_EF_EN

P3_EF_OK

P3_Link_OK

P4_EF_EN

P4_EF_OK

P4_Link_OK

P5_EF_EN

P5_EF_OK

P5_Link_OK

Power

Manual

Error

Error_Source

Error_Group

Error_Info

P1_EN_EFuse

P1_Reset_EF

P2_EN_EFuse

P2_Reset_EF

P3_EN_EFuse

P3_Reset_EF

P4_EN_EFuse

P4_Reset_EF

P5_EN_EFuse

P5_Reset_EF

PB_Reset_ERR

INT[29]

INT[29]

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

PDS_Box_Ctrl

BoxStatusStruct

BoxControlStruct

The two 29-integer arrays BoxStatusStruct and BoxControlStruct represent the processdata structure of the PowerDRIVE-System that the FB is accessing.

Inputs




⋮




Lenord + Bauer 4 RSLogix 5000 / Studio 5000PDS_Box_Ctrl

LB_6505_xxxx 23

Outputs







⋮










0 = Box, 1-5 = drive 1 to 5


Can be read from instance 17 (DPV1).


Can be read from instance 17 (DPV1).

(1) If Error_Group is 0, no error occured.(2) Error_Info contains the error code of group 1 and 6, otherwise 0 ist output.

4 RSLogix 5000 / Studio 5000 Lenord + BauerPDS_Axis_Ctrl

24 LB_6505_xxxx

4.3 PDS_Axis_Ctrl

Function: Controlling a drive via the Box (PDS_Axis_Ctrl_Box) or a separate drive(PDS_Axis_Ctrl_Drive) (→ page 12)

INT[29]

INT[29]

DINT

DINT

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

INT[29]

INT[29]

INT

DINT

DINT

DINT

BOOL

DINT

DINT

DINT

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

PDS_Axis_Ctrl_Box

DriveNoNomPosInNomVelInHomeValSetHomeLoopDistanceNumDenomDirectionEnableStartPosStopPosJogFwd JogRev

ActPosOutActVelOut

HomingDone

ReadyBusy

InPosWarning

Fault

BoxStatusStruct

BoxControlStruct

FB for a drive on the Box

INT[5]

INT[5]

DINT

DINT

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

INT[5]

INT[5]

DINT

DINT

DINT

BOOL

DINT

DINT

DINT

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

PDS_Axis_Ctrl_Drive

NomPosInNomVelInHomeValSetHomeLoopDistanceNumDenomDirectionEnableStartPosStopPosJogFwd JogRev

ActPosOutActVelOut

HomingDone

ReadyBusy

InPosWarning

Fault

DriveStatusStruct

DriveControlStruct

FB for a separate drive

The two 29-integer arrays BoxStatusStructand BoxControlStruct represent the processdata structure of the PowerDRIVE-System

that the FB is accessing.

The two 5-integer arrays DriveStatus-Struct and DriveControlStruct representthe process data structure of the drive

that the FB is accessing.

Inputs


DriveNo Number of the drive on the Box (1…5) only for PDS_Ax-is_Crtl_Box






(1) Value must be greater than zero, otherwise the drive does not move.

Lenord + Bauer 4 RSLogix 5000 / Studio 5000PDS_Axis_Ctrl

LB_6505_xxxx 25


















Outputs









4 RSLogix 5000 / Studio 5000 Lenord + BauerPDS_Axis_Ctrl

26 LB_6505_xxxx





Warning TRUE Warning present (bit 7 of the state word set)The warning code can be read from instance 172 for a sep-arate drive and from instance 273 for a drive on the Box1 .

Fault TRUE Error present (bit 3 of the state word set)The error code can be read from instance 171 for a sepa-rate drive and from instance 272 for a drive on the Box1 .

Lenord + Bauer 5 Automation Studio 4General

LB_6505_xxxx 27

5 Automation Studio 4

Program files available:● LB_6505_AutomationStudio.zip

5.1 General

The Powerlink interface is implemented for Automation Studio 4 from B&R. Thedrives are controlled according to the device profile CiA 402.


PDS_Axis_Ctrl Cyclic exchange of process data with a drive

PDS_RW_PAR Acyclic exchange of parameters for a Box or a drive

5.2 PDS_Box_Ctrl


UDINT

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

USINT

USINT

UDINT

Control

P1_EF_EN

P1_EF_OK

P1_Link_OK

P2_EF_EN

P2_EF_OK

P2_Link_OK

P3_EF_EN

P3_EF_OK

P3_Link_OK

P4_EF_EN

P4_EF_OK

P4_Link_OK

P5_EF_EN

P5_EF_OK

P5_Link_OK

Power

Manual

Error

Error_Source

Error_Group

Error_Info

Status

ERR

P1_EN_EFuse

P1_Reset_EF

P2_EN_EFuse

P2_Reset_EF

P3_EN_EFuse

P3_Reset_EF

P4_EN_EFuse

P4_Reset_EF

P5_EN_EFuse

P5_Reset_EF

PB_Reset_ERR

UDINT

UDINT

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

PDS_Box_Ctrl

5 Automation Studio 4 Lenord + BauerPDS_Box_Ctrl

28 LB_6505_xxxx

Inputs



ERR Last error in the Box on using the PowerDRIVE-Box Sys-tem Control module ??



⋮




Outputs








⋮










0 = Box, 1-5 = drive 1 to 5

Lenord + Bauer 5 Automation Studio 4PDS_Axis_Ctrl

LB_6505_xxxx 29






5.3 PDS_Axis_Ctrl


INT

DINT

DINT

DINT

DINT

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

INT

DINT

DINT

DINT

DINT

DINT

BOOL

DINT

DINT

DINT

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

PDS_Axis_Ctrl



HomingDone

ReadyBusy

InPosWarning

Fault

Inputs









(1) If Error_Group is 0, no error occured.(2) Error_Info contains the error code of group 1 and 6, otherwise 0 ist output.(3) Value must be greater than zero, otherwise the drive does not move.

5 Automation Studio 4 Lenord + BauerPDS_Axis_Ctrl

30 LB_6505_xxxx

















Outputs










Lenord + Bauer 5 Automation Studio 4PDS_RW_PAR

LB_6505_xxxx 31




Warning TRUE Warning present (bit 7 of the state word set)The warning code can be read from parameter 172 (DPV1).

Fault TRUE Error present (bit 3 of the state word set)The error code can be read from parameter 171 (DPV1).

5.4 PDS_RW_PAR


● EplSDORead

● EplSDOWrite

BOOL

ARRAY[0...15]

UINT

UDINT

UDINT

Done

DataOUT

Status

ErrorInfo

ReadLen

Enable

Write

pDevice

Node

Index

Subindex

DataIn

DataLen

BOOL

BOOL

UDINT ADR[ANY in]

USINT

UINT

USINT

DINT

UINT

PDS_RW_PAR

Inputs




FALSE Read data

pDevice Powerlink hardware identification code

Node Node address


Subindex Subindex for the parameter

DataIn Parameter value to be changed

DataLen Number of bytes to be sent/received (4/16)

5 Automation Studio 4 Lenord + BauerPDS_RW_PAR

32 LB_6505_xxxx

Outputs



DataOut Data read from the parameter

Status Status code for the system blocks EplSDORead and EplS-DOWrite

ErrorInfo Error code for the system blocks EplSDORead and EplS-DOWrite

0 No error

ReadLen Number of bytes read

Lenord + Bauer 6 TwinCAT 3General

LB_6505_xxxx 33

6 TwinCAT 3

Program files available:● LB_6505_TwinCAT3.zip TwinCAT 3 library

● BP_6505_TwinCAT3.zip TwinCAT 3 examples

6.1 General

The PROFIBUS-DP, EtherCAT and CANopen interfaces are implemented for Twin-CAT 3. The drives are controlled using device profile DPV1 or CiA 402 depending onthe interface.



PDS_RW_PAR Acyclic exchange of parameters for a Box or a drive depending inthe interface.

6.2 PDS_Box_Ctrl


DWORD

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BYTE

BYTE

WORD

Control

P1_EF_EN

P1_EF_OK

P1_Link_OK

P2_EF_EN

P2_EF_OK

P2_Link_OK

P3_EF_EN

P3_EF_OK

P3_Link_OK

P4_EF_EN

P4_EF_OK

P4_Link_OK

P5_EF_EN

P5_EF_OK

P5_Link_OK

Power

Manual

Error

Error_Source

Error_Group

Error_Info

Status

ERR

P1_EN_EFuse

P1_Reset_EF

P2_EN_EFuse

P2_Reset_EF

P3_EN_EFuse

P3_Reset_EF

P4_EN_EFuse

P4_Reset_EF

P5_EN_EFuse

P5_Reset_EF

PB_Reset_ERR

DWORD

DWORD

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

PDS_Box_Ctrl

6 TwinCAT 3 Lenord + BauerPDS_Box_Ctrl

34 LB_6505_xxxx

Inputs






⋮




Outputs








⋮










0 = Box, 1-5 = drive 1 to 5

Lenord + Bauer 6 TwinCAT 3PDS_Axis_Ctrl

LB_6505_xxxx 35



Error can be read, parameters dependent on the interface.



6.3 PDS_Axis_Ctrl


WORD

DWORD

DWORD

DINT

DINT

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

WORD

DWORD

DWORD

DINT

DINT

DINT

BOOL

DINT

DINT

DINT

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

PDS_Axis_Ctrl



HomingDone

ReadyBusy

InPosWarning

Fault

Inputs










6 TwinCAT 3 Lenord + BauerPDS_Axis_Ctrl

36 LB_6505_xxxx

















Outputs










Lenord + Bauer 6 TwinCAT 3PDS_RW_PAR_xx

LB_6505_xxxx 37




Warning TRUE Warning present (bit 7 of the state word set)Warning can be read, parameters dependent on the inter-face.

Fault TRUE Error present (bit 3 of the state word set).Error can be read, parameters dependent on the interface.

6.4 PDS_RW_PAR_xx


● ADSREAD

● ADSWRITE

The FB is dependent on the interface used.

6.4.1 PDS_RW_PAR_EtherCAT

BOOL

DWORD

BOOL

UDINT

Done

DataOUT

Error

ErrorID

NetID

DeviceID

Enable

Write

Index

Subindex

DataIn

T_AmsNetId

UINT

BOOL

BOOL

UINT

USINT

DWORD

PDS_RW_PAR_EtherCAT

Inputs


NetID AMS network identification code for the destination device

DeviceID EtherCAT address for the device (drive or Box)



FALSE Read data

Index CANopen object index for the parameter to be transferred

Subindex Subindex for the parameter value to be transferred

DataIn New parameter value

6 TwinCAT 3 Lenord + BauerPDS_RW_PAR_xx

38 LB_6505_xxxx

Outputs



DataOUT Parameter value read

Error TRUE An error has occurred

ErrorID Error code (corresponds to the ADS error code)

6.4.2 PDS_RW_PAR_CANopen

BOOL

DWORD

BOOL

UDINT

Done

DataOUT

Error

ErrorID

NetID

NodeID

Enable

Write

Index

Subindex

DataIn

T_AmsNetId

UINT

BOOL

BOOL

UINT

USINT

DWORD

PDS_RW_PAR_CANopen

Inputs



NodeID Node address for the CANopen slave (drive or Box)



FALSE Read data

Index CANopen object index for the parameter to be transferred

Subindex Subindex for the parameter value to be transferred


Outputs



DataOUT Parameter value read



Lenord + Bauer 6 TwinCAT 3PDS_RW_PAR_xx

LB_6505_xxxx 39

6.4.3 PDS_RW_PAR_PROFIBUS

BOOL

ARRAY[0...3] OF DINT

BOOL

UDINT

Done

DataOUT

Error

ErrorID

NetID

Station

Slot

Enable

Write

Index

DataIn

T_AmsNetId

UINT

USINT

BOOL

BOOL

UINT

DINT

PDS_RW_PAR_PROFIBUS

Inputs



Station Station address for the device (drive or Box)

Slot Slot number for the module



FALSE Read data



Outputs



DataOUT Parameter values read



7 CODESYS V3 / SoMachine V4 Lenord + BauerGeneral

40 LB_6505_xxxx

7 CODESYS V3 / SoMachine V4

Program files available:● LB_6505_CODESYS3x.zip CODESYS V3 library

● BP_6505_SoMachine.zip SoMachine V4 library

7.1 General

The CANopen, PROFIBUS-DP, PROFINET, EtherCAT, Ethernet/IP and Sercos III in-terfaces are implemented for CODESYS V3 / SoMachine V4. The drives are control-led using device profile DPV1 or CiA 402 depending on the interface.



7.2 PDS_Box_Ctrl


DWORD

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BYTE

BYTE

WORD

Control

P1_EF_EN

P1_EF_OK

P1_Link_OK

P2_EF_EN

P2_EF_OK

P2_Link_OK

P3_EF_EN

P3_EF_OK

P3_Link_OK

P4_EF_EN

P4_EF_OK

P4_Link_OK

P5_EF_EN

P5_EF_OK

P5_Link_OK

Power

Manual

Error

Error_Source

Error_Group

Error_Info

Status

ERR

P1_EN_EFuse

P1_Reset_EF

P2_EN_EFuse

P2_Reset_EF

P3_EN_EFuse

P3_Reset_EF

P4_EN_EFuse

P4_Reset_EF

P5_EN_EFuse

P5_Reset_EF

PB_Reset_ERR

DWORD

DWORD

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

PDS_Box_Ctrl

Lenord + Bauer 7 CODESYS V3 / SoMachine V4PDS_Box_Ctrl

LB_6505_xxxx 41

Inputs






⋮




Outputs








⋮










0 = Box, 1-5 = drive 1 to 5

7 CODESYS V3 / SoMachine V4 Lenord + BauerPDS_Axis_Ctrl

42 LB_6505_xxxx






7.3 PDS_Axis_Ctrl


WORD

DWORD

DWORD

DINT

DINT

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

WORD

DWORD

DWORD

DINT

DINT

DINT

BOOL

DINT

DINT

DINT

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

PDS_Axis_Ctrl



HomingDone

ReadyBusy

InPosWarning

Fault

Inputs










Lenord + Bauer 7 CODESYS V3 / SoMachine V4PDS_Axis_Ctrl

LB_6505_xxxx 43

















Outputs










7 CODESYS V3 / SoMachine V4 Lenord + BauerAcyclic data exchange

44 LB_6505_xxxx




Warning TRUE Warning present (corresponding bit of the state word set)Warning can be read, parameters dependent on the inter-face.

Fault TRUE Error present (corresponding bit of the state word set).Error can be read, parameters dependent on the interface.

7.4 Acyclic data exchange

The acyclic data exchange depends on the interface!

Function: Read and write parameter data in the acyclic data exchange

For reading or writing the following function blocks can be used:

Interface LibraryFunction block

Read Write

CANopen CAA CIA405 SDO_READ4 SDO_WRITE4

PROFIBUS CommFB RDREC WRREC

PROFINET CommFB RDREC WRREC

Ethernet/IPEtherNetIPServices

Get_Attribute_Single Set_Attribute_Single

EtherCAT IODrvEtherCAT ETC_CO_SdoReadDWord ETC_CO_SdoWriteDWord

Sercos III IoDrvSercos3 Sercos3_IDNRead4 Sercos3_IDNWrite4

PowerDRIVE/-Box GEL 6110/6505 FB

Documents

Transcript of PowerDRIVE/-Box GEL 6110/6505 FB