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LEXIUMCommunication by Fipio
3500
5237
_03
February 2005eng
2
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).
3
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].
7
About the Book
8
1
Fipio on LEXIUMAt 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
Implementation - Fipio
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
Implementation - Fipio
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 implementationAt a Glance
Subject of this Chapter
This chapter deals with hardware implementation for the Fipio option card on LEXIUM.
What's in this Chapter?
This chapter contains the following topics:
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
Hardware implementation - Fipio
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
Hardware implementation - Fipio
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
Hardware implementation - Fipio
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
Hardware implementation - Fipio
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
Hardware implementation - Fipio
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
Hardware implementation - Fipio
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
Hardware implementation - Fipio
Preparation of cables
Procedure to be followed
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
Hardware implementation - Fipio
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
Hardware implementation - Fipio
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
Hardware implementation - Fipio
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
Hardware implementation - Fipio
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
Hardware implementation - Fipio
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
Hardware implementation - Fipio
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
Hardware implementation - Fipio
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
Hardware implementation - Fipio
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
Hardware implementation - Fipio
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
Hardware implementation - Fipio
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
Hardware implementation - Fipio
32
3
Software implementationAt a Glance
Subject of this Chapter
This chapter describes the general communication function on Fipio.
What's in this Chapter?
This chapter contains the following topics:
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
Software implementation - Fipio
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
Software implementation - Fipio
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 StationAt a Glance
Subject of this Chapter
This chapter shows how to set up the different modes of communication allowing access to the drive.
What's in this Chapter?
This chapter contains the following topics:
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
Premium command station: General
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
Premium command station: General
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
Premium command station: General
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
Premium command station: General
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
TSX 57252 FIPIO manager
Privileged terminal
42
Premium command station: General
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
Premium command station: General
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
TSX 57253 FIPIO manager
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
Premium command station: General
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
TSX 57252 FIPIO manager
Privileged terminal
45
Premium command station: General
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
Premium command station: General
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
TSX 57253 FIPIO manager
3
0 FED M32OTHER COM
4
Designation: EQP STD MOD32
FED M32 [FIPIO1 MODULE 0]
Configuration
Task: MASTChannel 0
47
Premium command station: General
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
Premium command station: General
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.
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
‘%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
%MW100:4 Address of communication report (4 words)
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
Premium command station: General
Explanation of parameters:
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).
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)
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
%MW100:4 Address of communication report (4 words)
50
5
Configuration of Lexium: ParametersConfiguration 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
Configuration of Lexium
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
Configuration of Lexium
54
6
Debugging and diagnosticsAt a Glance
Subject of this Chapter
This chapter deals with debugging and diagnostics for Lexium drives on a FIPIO bus.
What's in this Chapter?
This chapter contains the following topics:
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
Debugging and diagnostics
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
Debugging and diagnostics
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
Debugging and diagnostics
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 and diagnostics
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
Debugging and diagnostics
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
Debugging and diagnostics
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
Debugging and diagnostics
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
Debugging and diagnostics
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
Debugging and diagnostics
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.
The panel looks like this:
Description This window consists of:
� a drive on/off switch (no effect)� a button to start the drive (no effect)
StartStop
OnOff
Analog speed
64
Debugging and diagnostics
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.
The panel looks like this:
Description This window consists of:
� 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
Debugging and diagnostics
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.
The panel looks like this:
Description This window consists of:
� a drive on/off switch (no effect)� a button to start the drive (no effect)
StartStop
OnOff
Analog torque
66
Debugging and diagnostics
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).
The panel looks like this:
Description This window consists of:
� 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
Debugging and diagnostics
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 panel looks like this:
Description This window consists of:
� 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
Position Speed Current Following error External encoder position
68
Debugging and diagnostics
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
Referenced In position
Position Speed Current Following error External encoder position
TaskReference point
Launch
In progress
Task controlled
0
0Task in End of current
JOG Activated
0
Setpoint reached
69
Debugging and diagnostics
� 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
Referenced In position
Position Speed Current Following error External encoder position
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 and diagnostics
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
Debugging and diagnostics
72
7
Replacement of driveAt a Glance
Subject of this Chapter
This chapter deals with the operations to be performed to replace a Lexium drive, if, for example, the drive is defective.
What's in this Chapter?
This chapter contains the following topics:
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
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 objectsAt a Glance
Subject of this Chapter
This chapter provides the lists of Lexium language objects on FIPIO, that can be addressed by PL7.
What's in this Chapter?
This chapter contains the following topics:
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:X12 Reserved
%IW\p.2.c\0.0.0:X13 Reserved
%IW\p.2.c\0.0.0:X14 Offline mode
%IW\p.2.c\0.0.0:X15 Reserved
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
Address Meaning LexiumWarningCode*
%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
*refer to Lexium documentation for further information
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
*refer to Lexium documentation for further information
Address Meaning LexiumWarningCode*
*refer to Lexium documentation for further information
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
Address Meaning Lexium ErrorCode*
%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:x13 Reserved F30
%MW\p.2.c\0.0.6:x14 Reserved F31
%MW\p.2.c\0.0.6:x15 System error F32
*refer to Lexium documentation for further information
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
Address Meaning Lexium ErrorCode*
*refer to Lexium documentation for further information
89
Language objects
90
9
Operating modes of the driveAt a Glance
Subject of this Chapter
This chapter explains the different operating modes of the Lexium drive on FIPIO.
What's in this Chapter?
This chapter contains the following topics:
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
Lexium operating modes
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
Lexium operating modes
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
Lexium operating modes
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
Lexium operating modes
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
96
10
Theoretical performanceTheoretical 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( )
97
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
98
11
List of variables for LexiumAt a Glance
Subject of this Chapter
This chapter contains some of the Lexium variable tables, which can be accessed by the user via messaging.
What's in this Chapter?
This chapter contains the following topics:
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
List of variables for Lexium
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
List of variables for Lexium
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
List of variables for Lexium
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
102 IN2TRIG Auxiliary trigger variable for IN2MODE
Long integer
0 DW
105 IN3TRIG Auxiliary trigger variable for IN3MODE
Long integer
0 DW
108 IN4TRIG Auxiliary trigger variable for IN4MODE
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)
Identifier ASCII command
Description Range Default value
Format
102
List of variables for Lexium
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
Identifier ASCII command
Description Range Default value
Format
103
List of variables for Lexium
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
Identifier ASCII command
Description Range Default value
Format
104
List of variables for Lexium
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
262 SWE2 Position value for Pos.Reg.2
Long integer
0 DW
264 SWE3 Position value for Pos.Reg.3
Long integer
0 DW
266 SWE4 Position value for Pos.Reg.4
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)
Identifier ASCII command
Description Range Default value
Format
105
List of variables for Lexium
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
Identifier ASCII command
Description Range Default value
Format
106
List of variables for Lexium
Read/Write semi-logical variables
Table of variables
The table of read/write-accessible semi-logical variables is shown below:
Identifier ASCII command
Description Range Default value
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
List of variables for Lexium
General read only variables
Table of variables
The list of general variables accessible in read only is provided below:
Identifier ASCII command
Description Range Default value
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
List of variables for Lexium
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)
Identifier ASCII command
Description Range Default value
Format
109
List of variables for Lexium
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:
Identifier ASCII command
Description Range Default value
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
Identifier ASCII command
Description Range Default value
Format
097 IN1 Status of hardware logical input 1
0 (low),1 (high)
- W
100 IN2 Status of hardware logical input 2
0 (low),1 (high)
- W
103 IN3 Status of hardware logical input 3
0 (low),1 (high)
- W
106 IN4 Status of hardware logical input 4
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
List of variables for Lexium
Read/Write status registers
Table of Status registers
The read/write accessible status registers are listed below:
Identifier ASCII command
Description Range Default value
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
List of variables for Lexium
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
List of variables for Lexium
%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
113
List of variables for Lexium
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