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Premium Lexium Altivar CANopen System User Guide

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Premium Lexium Altivar CANopen_EN.doc 03-2005

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Contents Application Source Code...........................................................................................................3 Typical Applications ..................................................................................................................4 System ........................................................................................................................................5

Architecture.............................................................................................................................5 Installation...............................................................................................................................8

Hardware...........................................................................................................................................................10 Software ............................................................................................................................................................17 Communication .................................................................................................................................................18

Implementation .....................................................................................................................21 ATV31 Variable Speed Drive ............................................................................................................................23 ATV71 Variable Speed Drive ............................................................................................................................25 Lexium17D ........................................................................................................................................................30 Bus Configuration..............................................................................................................................................37 PLC....................................................................................................................................................................47 HMI ....................................................................................................................................................................62

Appendix...................................................................................................................................74 Detailed components list ...................................................................................................................................74 Component protection classes..........................................................................................................................77 Performance characteristics of individual components.....................................................................................78

Contact......................................................................................................................................81

Introduction This document is intended to provide a quick introduction to the described System.

It is not intended to replace any specific product documentation. On the contrary, it offers additional information to the product documentation, for installing, configuring and starting up the system. A detailed functional description or the specification for a specific user application is not part of this document. Nevertheless, the document outlines some typical applications where the system might be implemented.


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Abbreviations Word/ Expression

Explanation

PLC Programmable Logic Controller

HMI Human Machine Interface

VSD Variable Speed Drive

PC Personal Computer

V AC Alternating Current

V DC Direct Current

I/O Input/Output

Premium Name of a Schneider Electric PLC

Unity Pro Name of Schneider Electric PLC programming software

Sycon Name of Schneider Electric bus configuration software

UniLink Name of Schneider Electric servo configuration software

XB5 Name of Schneider Electric pushbuttons and indicator lamps

Magelis XBTG Name of a Schneider Electric display terminal

Phaseo Name of a Schneider Electric power supply

Lexium17D Name of a Schneider Electric servo drive

ATV31, ATV71 Name of a Schneider Electric variable speed drive

Application Source Code Introduction Examples of the source code and wiring diagrams used to attain the system function as

described in this document can be downloaded from our „Village“ website under this link.

Using the Example Software

The example software includes a UniLink project for configuring the Lexium17D, a Sycon project for configuring the CANopen bus, a Unity Pro project for the PLC and a Vijeo project for the HMI. Please note:

• The communication interface must be switched to "Offline" in order to use the configuration data for Lexium17D with the UniLink software. Once this has been done, the configuration files (file name *.l17) can be opened. One file has been provided for each drive.

• The Sycon project (file name *.co) is ready for immediate use with V2.8 of the Sycon software.

• The Unity project is an import file, which can be opened by selecting "Öffnen" (Open) from the "Datei" (File) menu and the file type *.xef.

• The Vijeo project is an import file, which can be opened by selecting "Import/Export" (Import/Export) from the "Datei" (File) menu and the file type *.vdz.

http://the-village.schneider-electric.com/Architectures_Systems/publication_as.nsf/FolderLien/D1AB1478951DEA77C1256FD4004882EA?OpenDocument

Typical Applications

Introduction This chapter describes some typical applications or partial applications for this

system. Traditionally, this system is used in machines in various industrial sectors:

• Medium- and large-scale packaging machines

• Machines for processing materials such as metal, wood, etc.

• Medium- and large-scale textile machines

• Applications in the printing industry

• Assembly and production of devices

Application Description Example

Packaging machines

Used for controlling various packaging machines, for example, in this case, a palletizer for stacking tins and jars on a pallet. The drives need to be able to perform the following tasks:

• Lift layers of jars

• Position layers

• Transport pallets

• Transport jars

Textile machines

Used for controlling transport machines, folding and cutting machines with several drives, which need to be able to meet a variety of requirements, for example, positioning, transport, etc.

Device manufacture

Used for controlling machines for assembling the various components of a device, for example, in this case, for gluing skins into control cubicle doors. The drives are responsible for transport, positioning and pumping.


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System

Introduction The System chapter describes the architecture, components and dimensions of the

devices and parts used.

Architecture

Layout


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Overview The system comprises a load component, a safety component and a control component.

The load component is responsible for various requirements in respect of the drives, with the result that a variety of types of variable speed controller (ATV31 and ATV71) and servo drives are used. A single-phase or three-phase 400 V or 230 V AC power supply is used; appropriate motor circuit breakers are provided. There is also a 24 V DC power supply for the various control units (servos, safety, PLC, etc.).

The safety component comprises two Category 4 safety circuits for an emergency-off shutdown and for monitoring doors. As well as door safety being an option, the drives can be assigned to different safety circuits for the purpose of door monitoring.

The control system comprises a PLC with central acquisition of the various input and output data. The drives are connected to the control system via the CANopen bus. It also features a graphic display terminal (XBGT HMI) that communicates with the PLC using the Unitelway protocol and is used for plant control.

Components Hardware:

• Master switch & Circuit breaker (NSC100 Compact)

• 24 V power supply (Phaseo, 20 A)

• ATV31 and ATV71 variable speed drives

• Lexium17D drive control incl. motors (servo)

• Motor circuit breaker (GV2)

• Category 4 safety modules (Preventa)

• Emergency-off switch (XALK) and position switch (XCSA)

• Contactors (LC1D)

• Standard AC motor (7x)

• Control system (PLC) incl. I/O cards (TSX Premium)

• Graphic display terminal (Magelis XBTG) Software:

• Unity Pro 2.1 (PLC)

• Vijeo Designer 4.2.0 (HMI)

• UniLink 3.00 (Lexium17D)

• Sycon system configuration 2.8 (CANopen)

• PowerSuite 2.0 (ATV31) (if applicable)

Number of Components

The number of components needed to meet the requirements of the solution outlined in this document will vary. A detailed list of the required components, including quantities and part numbers, can be found in the appendix to this document.


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Degrees of Protection

Not all of the components used within this configuration have been designed to withstand the full range of environmental conditions in the field. These components will, therefore, require additional protection and are only suitable for installation in a control cubicle. For information about which components are suitable for direct installation on site, please refer to the list provided in the Appendix (column headed "In the field, on site", which also indicates the relevant IP protection class).

Supply voltage 400 V AC

Total supply output ~ 13 kW

Speed drive rated powers 4x 0.37 kW, 3x 0.75 kW, 4x ~1.6 kW

Motor brake None fitted

Connector cross-section 5x 2.5 mm² (L1, L2, L3, N, PE)

Design Data

Safety category Cat. 4 (emergency off and optional door monitoring)

Safety Notice In this application example, Category 4 (according to EN 954-1) has been selected

for the purpose of ensuring safety. It is not possible to make a general statement in respect of the safety or control category required for an application group. A detailed analysis of risks and hazards must be carried out and as such requires the involvement of an actual machine.

Size/ Dimensions

The dimensions of the devices used, e.g., the PLC, variable speed drive and power supply, support installation inside a control cabinet measuring 1200x1800x600 mm (WxHxD).

Moreover, the graphic display terminal, the display elements used to indicate a "group error", "emergency-off acknowledgment" and "door-safety acknowledgment" can be built into the door of the control cabinet along with the emergency-off switch.

Installation

Introduction This chapter describes the steps required to install the hardware and set up the software

for the task associated with the following application:

Layout


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Note The programming of this application can be used as a basis for plant and machinery

needing a larger number of drives with a whole range of different requirements and acquiring their input and output data locally via the PLC. Each of the motors and servo drives is controlled separately by the PLC via the CANopen bus.

The components listed in the next chapter represent a selection of the components required. In particular, the number of motors used and their allocation to variable speed drives and servos are determined by the relevant application (the number of inputs and outputs may also vary).

This document does not claim to be comprehensive and does not absolve users of their duty to check the safety requirements of their equipment and to ensure compliance with the relevant national or international rules and regulations in this respect.

Safety Category 4, which is suggested here as one possible option, is not necessarily binding/not necessarily required for every application, as a risk analysis must be produced and verified for each system (in accordance with national and/or international standards and regulations).

Hardware

General • The components designed for installation in a control cubicle, i.e., safety modules, line

circuit breakers, contactors, and motor circuit breakers, can be snapped onto a 35 mm top-hat rail.

• The master switch, Premium PLC, Phaseo power supply unit, and Altivar variable speed drive are screwed directly onto the mounting plate. If you are using the Altivar 31, these components can also be snapped onto a top-hat rail using an adapter.

• The emergency-off and door-safety switches, as well as the housing for display and acknowledge indicators, are designed for backplane assembly in the field; with the exception of the door-safety switch, all switches can also be installed directly in a control cubicle (e.g., in cubicle door) without their enclosing housings.

• There are two options for installing XB5 pushbuttons or indicator lamps: These pushbuttons or switches can be installed either in a 22 mm hole, e.g., drilled into the front door of the control cubicle, or in a type XALD housing suitable for up to 5 pushbuttons or indicator lamps. The XALD switch housing is designed for backplane assembly or direct wall mounting.

• The individual components must be interconnected in accordance with the detailed circuit diagram in order to ensure that they function correctly.

• A CANopen bus cable is also fitted between the PLC and the individual drive controls (Altivar, Lexium).

Master Switch Circuit Breaker

NSC100 Compact

EMERGENCY-OFF Switch

XALK178G


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Selector and Pushbutton Switch

XB5

Safety Module Category 4

XPSAF5130

Safety Switch Door safety

XCSA703

Motor Circuit Breaker

Circuit breaker (short-circuit protection) GV2-L


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Motor Contactors

LC1D

Premium PLC Processor

TLX P57 3634M

1 Display LEDs 2 Eject button for PCMCIA-SRAM card 3 Terminal port (TER) 5 Slot for a memory expansion card (PCMCIA) 6 Slot for a communication card (PCMCIA) 8 RJ45 connector for Ethernet connection 9 USB port

10 RESET button

Premium PLC Power Supply

TSX PSY 3610


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Premium PLC CANopen Bus

TSX CPP 110

Premium PLC I/O Cards

TSX DEY16D2

TSX DSY16T2


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ATV31 Drive Control

ATV31H037M2 incl. supply and motor connection

Terminal description

ATV71 Drive Control

ATV71H075N4 incl. supply and motor connection



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Lexium17D Drive Control

MHDA1008N00

SER39B4L3SR

Circuit diagram, functions

Continued on next page


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Lexium17D Drive Control, continued


Magelis Panel display terminal

XBT-G 2330 5.7" display


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Software

General You will need to install the Unity Pro programming software for the Premium PLC, the

Sycon software for configuring the CANopen bus and the UniLink software for configuring the servo motors. You will also need the Vijeo Designer software for configuring the HMI and creating the necessary diagrams. The PowerSuite software can be installed in order to maximize user-friendliness in respect of parameterization, archiving and simulation for the variable speed drive (ATV31). However, this is currently only supported by ATV31 drives (and not ATV71).

The following installation requirements apply in respect of all software packages:

• Operating system: Windows 2000 (SP1 minimum) or Windows XP

• Free hard disk memory: At least 2.4 GB, 4.4 GB recommended

• User memory: At least 512 MB, 1024 MB recommended

• Processor: Pentium III or higher with min. 800 MHz, 1.2 GHz recommended

• Interfaces: Serial interfaces as a minimum, USB recommended in addition

• Additional software: Internet Explorer 5.5 or higher

Software


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Communication

General • CANopen is used for communication between the motor controls (servo, VSD) and the

PLC. A CANopen bus cable must be connected between the PLC and each individual motor control. Although the servos and the ATV71 are connected directly via 9-pin sub D connectors, a junction box (VW3CANTAP2) is used for the ATV31. Two ATV31 drives can be connected to the latter via a special cable (VW3CANRR1) with RJ45 connectors.

• The connection between the PLC and HMI (Magelis graphic panel) is made via a serial connection cable (XBTZ968) and the devices communicate using the Unitelway protocol.

• An Ethernet port, which can be used to exchange data with other systems (other PLCs, data acquisition systems, etc.), is also available as an option on the PLC. This port can also be used as a programming interface.

Premium PLC TSX P57 3634

HMI The HMI is connected directly via the cable (XBTZ968) at the AUX port. Programming

For the purpose of programming, cable TSX PCX 1031 (switch position "0") is used to establish a connection between the serial interfaces on the PC and PLC. Alternatively, an Ethernet link can be used, once the Ethernet port has been configured.

CANopen

The TSX CPP 110 CANopen interface card (1) is inserted into the second slot for PCMCIA cards on the Premium CPU. The outgoing bus from this card terminates in a connector (2) for the outgoing CANopen bus. The connector is mounted on a top-hat rail and has a 9-pin sub D socket.


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ATV31 The connection to the CANopen bus is

established using junction box VW3CANTAP2 and cable VW3CANRR1.

In addition, the incoming and outgoing CANopen cables must each be connected to the junction box.

ATV71 The connection to the CANopen bus is

established via the interface connector (VW3CANA71), which is connected to the ATV71 network port for Modbus/CANopen. In this way, the connector provides a 9-pin sub D outlet for CANopen, so that the bus can be connected directly.

Lexium17D CANopen and the UniLink software both

communicate via sub D port X6. Both types of communication can run in parallel if an adapter (AM02CA001V00) is used.

Note: If an adapter is not used, please note that the pin assignment at X6 will not match the standard assignment for 9-pin sub D connectors on CANopen.


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Magelis XBT-G2200

The connection to the PLC is made using the cable XBTZ968. A 25-pin sub D connector is provided for this purpose on the HMI.


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Implementation

Introduction The Implementation chapter describes all the steps required to initialize, parameterize,

program, and start up the system.

Functional Description

1. With the exception of the safety functions, the entire application is controlled via the PLC. For this purpose, in the PLC, the input signals, the information from the drives and the inputs are analyzed via the HMI and the drives are controlled and the outputs set on the basis of this data.

2. Independently of the PLC, the application features two Category 4 safety circuits for the emergency-off and door-safety functions. When tripped, these disconnect the power supply to the drives and PLC outputs and inform the PLC accordingly.

3. Each type (ATV31, ATV71 and Lexium17D) has a separate state machine in the PLC to control the drives. The state machine converts motion commands, e.g., "Turn left at 1400 rpm" or "Acknowledge error", into a control signal for the drives. The state machine is based on the DriveCom profile in all cases (to ensure that the state sequence remains the same for all drive types). However, as the requirements placed on the drives are not always the same and the functions to be implemented vary, the following functions are supported:

• ATV31: Travel at two different velocities and in two directions

• ATV71: Travel at various speeds, parameter transfer

• Lexium17D: Velocity profile and position control 4. As the ATV71 can run without DriveCom state machine in some settings, direct

control via the bus, for example, is supported for an ATV71.

5. The application can run in automatic mode, which is controlled via a sequencer and features one sequence for a variety of drive functions. Regardless of the sequencer, two drives are also configured for continuous operation.

6. As well as displaying up-to-date information about the application, the HMI provides access to application control. This usually involves switching between manual and automatic mode. The drives can be controlled individually in manual mode.

The PLC program, therefore, represents a framework for a typical application but without simulating any of the actual functions of a specific machine.

Layout

Implementation Sequence

Proceed as follows to optimize the setup time of the individual products:

1. Parameterize the ATV31 and ATV71 drives (CANopen parameters, motor parameters, control profile).

2. Use the Sycon software to parameterize the CANopen bus (parameters, PDO configuration and exchange, SDO for bus start).

3. Program the PLC (basic configuration, communication, variables, blocks for drives, manual mode, automatic mode).

4. Configure and program the HMI (data areas, communication, data display, operator controls).

Proceeding in the sequence described above will ensure that the relevant information can either be imported directly or entered manually from the previous action.


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ATV31 Variable Speed Drive

Introduction The settings for the ATV31 variable speed drive can either be made manually using the

control buttons on the device or by means of the PowerSuite configuration software. Subsequently, the configuration only is written via the control buttons, in order to retain consistency between the parameter settings on the ATV31 and those on the ATV71.

The following settings must be made as part of the minimum configuration for the ATV31:

• The CANopen address and the CANopen baud rate

• The line frequency and motor data in accordance with the rating plate

1 All parameters are set manually

using the control buttons on the device.

2 Use the control buttons to select the "Communication" ("COM") submenu. The CANopen parameters are set here:

• "AdC0" CANopen address

• "BdC0" baud rate Addresses 1 to 4 have been assigned to the four drives and a rate of 500.0 kbps set in the application.

ATV31 Parameters

3 Use the control buttons to select the "Motor control" ("drC") submenu. The motor parameters are set here:

• "bFr" Output frequency

• "UnS" Rated motor voltage

• "FrS" Rated motor frequency

• "nCr" Rated motor current

• "nSP" Rated motor speed

• "Cos" motor power factor All motor data must be taken from the rating plate.


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Note The above parameters represent a minimum configuration in order to be able to run the

drive and the motor connected to it safely. Depending on the application, we also recommend modifying regulation via the inverter (V/f characteristic) to the application (e.g., pumps or constant torque) by setting the "UFt" parameter accordingly in the "Motor control" menu.

If necessary, other parameters such as those associated with the configuration of the inputs, the setting of the ramps or the use of preset frequencies can also be modified in the same way. If you are going to need to modify these parameters from the application, they must be included in bus communication accordingly.

ATV71 Variable Speed Drive

Introduction The ATV71 drive can only be configured via the graphic display terminal on the device.

The basic settings of the ATV71 are also determined by the operating mode in which the ATV71 is to run in the application. There are two basic configuration for operation with a fieldbus:

• Like the ATV31, the ATV71 operates in accordance with the DriveCom state machine and is assigned a control word and a velocity reference (DSP402 profile).

• Individual functions, e.g., forward travel, are sent to the ATV71 explicitly even in bus operation and a setpoint velocity (reference) is also transmitted (IO profile).

In both cases, it is possible to switch the control signals or setpoint velocity between different sources (bus, I/O signals, display terminal). The following are available:

• Two control registers

• Three velocity references Switchover can be independent in each configuration, although the DSP402 profile also supports "not separate" switchover (not separate mode).

As shown in the figures above, appropriate sources such as terminals or bus can be assigned to the channels for both the control register and the setpoint velocity. Switchover parameters are available, which can be assigned with a switch signal, e.g., a bit from the control word.

Taking into account the control options, the following points are of relevant in respect of the configuration of the ATV71:

1. Setting of pulse or permanent signals (3- or 2-wire control) 2. Setting of motor parameters in accordance with rating plate 3. Setting of the CANopen address and baud rate 4. Selection of the profile and, if applicable, the switchover type 5. Selection of sources for channels and of switchover signals In the context of the application, both profiles are used for the ATV71 and the parameter switchover procedure is preset. With this in mind, we will now explain how to make settings via the graphic display terminal before describing the settings required for the two profiles.


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1 All parameters are set manually

using the control buttons on the device. 1. Graphic display/display

2. Function keys

3. Start/Stop button for manual mode

4. Escape key (Esc) to reject a setting Fwd/Rwd: Inversion of direction of rotation

5. Navigation key for:

• Control in menus

• Editing values

• Confirming values (Enter)

2 Description of the display:

• Current values of the ATV71

• Name of menu or submenu

• Menu elements

• Function-key assignment

• Scroll up/down (6.)

ATV71 Parameter Settings

3 An example of how values are set via the graphic display terminal appears opposite.

1. Use the navigation key to select the menu, then press the navigation key ("Enter") to confirm your selection.

2. The parameters associated with the menu appear. Use the navigation key to select the value to be changed.

3. Use the navigation key to change the value and then save the value by pressing "Enter" or reject it by pressing "Esc".


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The settings common to all speed drives, regardless of the application profile selected, are described here. These include:

• Setting of pulse or permanent signals (3- or 2-wire control)

• Setting of motor parameters in accordance with rating plate

• Setting of the CANopen address and the baud rate

1 The signal-type setting defines whether permanent signals (2-wire) or pulse signals (3-wire) are used for operation.

[1.5 INPUTS/OUTPUTS CFG]

[2/3 wire control (tCC)]: 2 wire (2C)

ATV71 Common Settings

2 The data associated with the motor and illustrated on the rating plate has to be set in the "Motor control" menu.

[1.4 MOTOR CONTROL]

[Output frequency (bFr)]: 50

[Rated motor power (nPr)]:

[Rated motor volt. (UnS)]: 400

[Rated drive current (nCr)]:

[Rated motor freq. (FrS)]: 50

[Rated motor speed (nSP)]:

3 The baud rate and address must be set for the CANopen bus. In the example application, addresses 9 to 11 are used for the ATV71.

[1.9 COMMUNICATION]

[CANopen address (AdC0)]: 9 ... 11

[CANopen bit rate (bdC0)]: 500

The settings to be made for a speed drive using the IO profile with switchover of the control register are described here. They represent an example that has also been implemented in the application supplied. The following functions have been implemented for the control system:

• Profile setting with forward/reverse travel and fast stop

• Switchover between two ramps

• Switchover of control register Unlike the control register, which can be switched over between bus and terminals, the velocity setpoint in this example is preset only via the bus.

ATV71 IO Profile

1 The setting for the profile must be made first; the IO profile is selected.

[1.6 COMMAND]

[Cmd channels (CHCF)]: Klemm. Anst. (IO) (Terminals (IO))



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2 The control-word, velocity and

switchover sources can now be selected from those available. Switchover takes place via the CANopen bus, using the last bit in the control word.

[1.6 COMMAND]

[Cmd channel 1 (Cd1)]: CANopen (Can)

[Cmd channel 2 (Cd2)]: Terminals (ter)

[Ref.1 channel (Fr1)]: CANopen (Can)

[Cmd switching (CCS)]: C215

ATV71 IO Profile, continued

3 Finally, the individual ATV functions must be assigned to the individual bits in the control word. It is important to assign them to the switch (type CDxx).

• Bit 0: Forward

• Bit 1: Reverse

• Bit 2: Fast stop

• Bit 3: Ramp switchover

[1.7 1.5 INPUTS/OUTPUTS CFG]

[Reverse (rrS)]: CD01

1.7 APPLICATION FUNTIONS]

[Fast stop (FSt)]: CD02

[Ramp switching (rPS)]: CD03

Note: In the IO profile, forward is assigned to bit 0 automatically for two-wire control.

The settings to be made for a speed drive using the DSP402 profile with "not separate" switchover of the control register and setpoint are described here. They represent an example that has also been implemented in the application supplied.

When the DSP402 profile is used, the speed drive is controlled by means of a state machine, which must be implemented in the PLC program. When switching the setpoint and control register over to the second source, the state machine must also be implemented for the second control register. An example is control via the display or terminals, where direct functions (forward, reverse, etc.) are assigned.

Control by means of the state machine reduces the settings on the inverter:

• Profile setting

• Switchover of control register and setpoint

ATV71 DSP402 Profile

1 The setting for the profile must be made first; the DSP402 profile with "not separate" switchover is selected.

Note: In some cases, following a reset, the speed drive will revert to the factory settings. This does not affect the setting from "common settings".

[1.6 COMMAND]

[Cmd channels (CHCF)]: Not separ.



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ATV71 DSP402 Profile, continued

2 The setpoint-velocity and switchover sources can now be selected from those available. Switchover takes place via the CANopen bus, using the last bit in the control word.

[1.6 COMMAND]

[Ref.1 channel (Fr1)]: CANopen (Can)

[Ref.1 channel (Fr1)]: HMI (Can)

[Cmd switching (rFC)]: C215

Note: As the control word and velocity are switched over together, only the source for the velocity can be specified.

Note These parameters represent a minimum configuration in order to be able to run the drive

and the motor connected to it safely. Depending on the application, other parameters such as those associated with the configuration of the inputs, the setting of the ramps or the use of preset frequencies can also be modified in the same way.

If you are going to need to modify these parameters from the application, they must be included in bus communication accordingly. For two ATV71 type speed drives, for example, the ramps are modified via the PLC. The associated settings are described under Bus Configuration.

Lexium17D

Introduction The settings on Lexium17DD servo drives can be made using the buttons on

the front of the device and in the UniLink software tool.

In this application, the speed mode controlled by the PLC and monitored via CANopen is used as an example to demonstrate the interplay between servo and PLC. The following modes are also possible:

• Positioning

• Motion tasks

• Torque control The sequence outlined below is based on the being controller online, i.e., when there is a connection between the controller and the software and the configuration is made directly. Offline mode can also be used, although the text on buttons, etc., will vary.

Configuration With Unilink

1 When the software starts up, the Communication dialog box appears. You will see a list of interfaces. Those that are actually available appear in black text and those that are not are grayed-out. Select the appropriate interface, e.g., "COM1", to connect to the Lexium drive. (The COM1 port on the computer must be connected to the X6 port on the Lexium or to X6A on the CANopen splitter interface.)

The figure opposite shows the cable assignment or layout (part number: AM0CAV001V003).



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Configuration with Unilink, continued

2 Once communication has been activated, the device will read the parameters.

3 Once the parameters have been

uploaded, the basic screen will appear with the relevant data. If the device has not yet been parameterized, a motor will not yet have been configured.

In order that even basic settings can be made, the motor must not be enabled. It can be disabled by clicking on "Disable (F12) (circled in blue). You can now continue to configure the motor by clicking on "NN" (marked in red).

4 The motor data is taken from the rating plate. No other information is required for all drives listed.

Select the correct motor from the list (e.g., SER39 B4 L3 SR).

5 It is not clear from the motor

type whether or not the drive has a holding brake. A corresponding prompt will, therefore, appear. The example motor does not have a holding brake.

6 As the changes made are fundamental settings for the amplifier, the data must first be saved and the amplifier reset.



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7 The connection is lost during the reset. To continue with parameterization, you will need to reconnect.

8 Once communication has been resumed, click "Disable" again to activate the input of basic settings.

Then click "Basic Setup".

9 In the Basic Setup screen, settings must/can be made in the fields with a white background.

Under "max. Mains Voltage" (blue), you should select the max. line voltage (in this case 400 V). The response of the servo to a power supply failure ("Mains Phase missing") can also be selected here (in this case Warning).

10 On account of CANopen communication with the PLC, the address, baud rate and watchdog ("Ext WD") need to be entered under "Amplifier".

Addresses 5 to 8 have been assigned to the four amplifiers and a rate of 500.0 kbps set in the application.

Entering a name for the amplifier simply makes it easier for the user to identify the device.



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11 In order for the values to be displayed and processed to be traceable, the units should be selected in accordance with the task concerned. In this example, we are dealing with speed control of the servo drives, which can be assigned representatively using the units opposite.

Once the relevant selections have been made, click "OK" to confirm. The parameters are transferred to the device and a reset is performed (as described in Points 6 and 7).

12 The amplifier is now set to "0 Digital Speed" mode. In this mode, a speed setpoint to be applied by the drive is selected and its actual value is written back to the control system via CANopen.

13 These settings now need to be

saved in the amplifier by clicking on the icon opposite. The device does not, however, need to be reset.

Startup with Unilink

1 If the motor and amplifier have been connected using power and feedback cables, the drive can be started up via Unilink.

Please be sure that the motors are running off-load, in order not to put personnel and machinery at risk.

(For more information, see the safety instructions in the servo-component manuals.)



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Startup with Unilink, continued

2 In order that the function can be controlled via the software, the external conditions must be set. To do this, connect a 24 V power supply to the "Enable" hardware contact at terminal 15 (X3), which is associated with the connection and enabling of the power supply, and connect a 0 V supply to terminal 18.

You will also need to activate the "SW-Enable" in the software. The drive is supplied with power and you will hear it switch to position control.

3 Click "Oszilloskop"

(Oscilloscope) to open the oscilloscope window, which enables individual values to be entered quickly and easily. It is also possible to control the drive via Unilink in this screen, and this is what we are going to do here.

4 For speed mode, the best was

to test the function is to use reversing mode, which can be selected in the bottom left-hand corner. The direction of rotation will be inverted at specific intervals. The parameters can be set on a drive-specific basis by clicking on "Parameters".

Click "Start" to activate reversing mode and "Yes" in the dialog box that appears next to enable it.



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Startup with Unilink, continued

5 Once the function test has been completed, the settings made can be saved by clicking on the floppy disk icon in the main screen.

Select "Parameters and Motion Tasks" in the next dialog box. We recommend that you use the drive names you assigned in Basic Setup when saving data.

Duplication to Other Drives

1 If the motor/amplifier configuration is the same, the data can be downloaded from a file to the drive. Neither a hardware enable nor a software enable is required (Disable/F12).

If the drive has been set to "NO ENABLE" (circled in red), the floppy disk icon will no longer be grayed out and can be selected.

Once you have selected the required file, an info box will appear, in which you can specify that particular parameters (e.g., name) are to be overwritten.

2 Once you have clicked on OK to

confirm this message, data will begin to be downloaded to the drive.



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Duplication to Other Drives, continued

3 As the download brings about significant changes, the data in the amplifier must be saved and a restart performed.

4 Following the restart, once the connection with the device has been re-established, the characteristic data for the CANopen bus and associated with the device name will need to be checked in the Basic Setup screen.

Note: The software enable must be reset in order to do this.


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Bus Configuration

Introduction The CANopen bus is configured using the Sycon software. The individual devices are

identified as devices on the bus, then addresses are assigned and the master function is assigned to the Premium PLC. Subsequent steps configure the data for the individual devices to be transferred during operation (PDO) and if necessary specify their configuration (SDO). Finally, the general bus settings are entered, e.g. the baud rate.

The addresses for the speed drives and servo drives are assigned when the latter are configured and must be transferred during programming with Sycon. The addresses used in the example software are listed below for the individual devices.

Device Address Comment

PLC (TSX CPP 110) 127 Set with Sycon software

ATV31 (1) 1 Set via operator panel




Lexium17D (1) 5 Set with UniLink software






Address Overview


Creating a New Project

1 Start the software, then start a new project by selecting "File - New".

Select "CANopen" as the bus in the next window.


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In order that the speed drives and servo drives can be connected to the CANopen bus via the Sycon software, each type (ATV31, ATV71, Lexium17D) must first be integrated into the Sycon software (assuming that does not already appear in the hardware list). The types are integrated using the *eds description files (and the three additional image files).

1 After creating the project, select the "Copy EDS" menu item from the "File" menu.

Note: Integration is not possible, and this menu is not available, until a new project has been created.

2 In the window, select the file for the corresponding speed drive/servo drive and start the process.

Note: You must repeat the process if more than one type is involved.

3 Confirm the import of the corresponding images.

Importing eds Files

4 A message appears informing you that integration is complete.


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1 Add the PLC’s circuit card for

the CANopen bus to the project as the master via the "Master" menu item in the "Insert" menu, or by using the equivalent button.

Select the "TSX CPP 110" card in the window. A CANopen address (127) and a name must also be entered.

2 Add each drive to the project as a node via the "Node" menu item in the "Insert" menu, or by using the equivalent button.

Select the corresponding speed drive/servo drive as the type in the window. A CANopen address and a name must be entered. This process must be repeated for each drive.

Note: You can preselect the manufacturer and profile in the node filter to speed up the search for the devices in the selection list.

Inserting Nodes

3 Once all devices have been entered there will be eleven devices altogether in the example project. Select "ID Table" in the "View" menu to call up the identification table, which summarizes all the devices and their addresses.


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1 Double-click on a device to open

the "Node Configuration" window, where all settings associated with the device can be made. These include the configuration of the node on bus startup and the transfer of data during operation.

The window is divided into three parts: The top part shows the general configuration, the center part shows the predefined PDO and the bottom part shows the PDOs configured for these nodes and can also be used for configuration or making changes.

2 Double-click on the receive and transmit PDOs (PDO 6) to activate them for data transfer between the PLC and ATV31.

ATV31 Configuration

3 After double-clicking on the PDOs to be activated, the window for setting the transmission type appears.

For the receive PDO, select "device profile" with the event "when data has changed".

For the transmit PDO, select "device profile" and "no remote request".



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4 As the COB-ID for the PDOs is

not assigned automatically at number 5 and higher, a warning will appear.

5 The COB-ID now has to be entered manually for each PDO.

1. Select "Automatic COB-ID allocation".

2. Modify the COB-ID for the configured PDOs.

Note: Please note that different IDs must be allocated for each PDO and each ATV31. You can use the values for PDO2, i.e., the values 640 + CANopen address for the transmit PDO and 768 + CANopen address for the receive PDO.

ATV31 Configuration, continued

5 Once the IDs have been allocated, you must configure a Type 6 PDO to send and receive for each ATV31. The COB-ID must be unique for each PDO.

Note: The COB-IDs are displayed in the ID table (see above).

Note: Click on PDO Contents Mapping.. to view the data to be transmitted for the selected PDO. Click on the

PDO Characteristics button to call the PDO transmission mode.


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1 Double-click on the device to

open the Node Configuration dialog where all settings associated with the device can be made, including configuration of the node on bus startup and the transfer of data during operation.

There are six predefined PDOs for the ATV71 modules. Of these, both Type 1 PDOs are used for all ATV71s. In addition, the Type 2 PDOs are used for two ATV71s for the transmission of ATV parameters.

2 Double-click on the receive and send PDOs (PDO 1) to activate them for data transfer between the PLC and ATV71. These contain the data for controlling the ATVs.

The Type 2 PDOs, which are still empty, are also activated for two ATVs (addresses 10 and 11).

ATV71 Configuration






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4 The PDO automatically transfers

the selection of the transmission type to the window for the configured PDOs.

No further configuration settings need to be made for Type 1 PDOs. However, the content still needs to be defined for Type 2 PDOs. To do this, select the PDOs and click the "PDO Contents Mapping" button.

ATV71 Configuration, continued

5 A list of all parameters supported by the PDO appears in the window.

In the example application, objects 203C.2 and 203C.3, i.e., the acceleration and deceleration ramps are written to the PDO. Select the object and click the Append Object button to carry out the operation.

Note: In order to be able to view the current values for the ATV71 as well, the ramps are written to both the transmit and receive PDOs.


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Lexium17D Configuration

The Lexium17D features a number of internally defined PDOs, which have an internal number and are suitable for specific application purposes. For example, one receive PDO and one transmit PDO, each with the number 22, have been defined for operation with speed setpoint.

However, only the standard PDOs 1 and 2 are available in the Sycon tool for transmission and reception. Nevertheless, the required data can be written to these PDOs and the corresponding internal number then assigned to these PDOs.

1 Double-click on the device to open the Node Configuration dialog where all settings associated with the device can be made, including configuration of the node on bus startup and the transfer of data during operation.

There are four predefined PDOs for the Lexium17D. Of these, both Type 1 PDOs are used for all Lexiums. Double-click on each to activate.






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Lexium17D Configuration, continued

3 The PDO automatically transfers the selection of the transmission type to the window for the configured PDOs.

The receive and transmit PDOs to be transmitted must be defined. To do this, select the PDOs and click the "PDO Contents Mapping" button.

4 A list of all parameters

supported by the PDO appears in the window. You must, however, be sure to use the PDOs associated with the Lexium17D.

In order to implement operation with speed setpoint, object 2060.0 must be written to the receive PDO. By way of feedback, objects 2070.1 and 2070.2 (position and velocity) are entered in the transmit PDO.

Note: This configuration tallies with the defined PDOs (22) associated with the Lexium.

5 Once the content has been defined, both PDOs for the Lexium17D must be declared as number 22 when the bus starts up.

To do this, click the Object Configuration button in the Node Configuration window.



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Lexium17D Configuration, continued

6 A list of all parameters that can be transferred when the bus starts up appears in the window.

Double-click to select object 2600.0 for the receive PDO. This will add the object to the list at the bottom of the window. Enter 16hex under Chosen value in this list for object 2600.0. The Lexium17D will then accept the PDO as number 22 (16hex).

You should then repeat the procedure for the transmit PDO, this time with object 2A00.0.

1 The bus parameter window is

called up by selecting

Bus Parameter.. from the Settings menu. The master has to be selected in the bus view.

Bus Parameters

2 The transmission rate (Baudrate) is the only parameter to be changed, to 500 kbps.

Then save the Sycon project.


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PLC

Introduction This chapter describes how to create a PLC program, including the logic for the example

application, using the Unity Pro software. Proceed as follows to integrate the PLC: 1. Create new project and select hardware. 2. Configure the inputs and outputs. 3. Configure CANopen communication. 4. Configure Ethernet communication. 5. Create application program (logic) (drives, manual mode, automatic mode). 6. Create visualization interface. 7. Connect to PLC and download program.

1 After starting Unity, the first thing

you must do is create a new project.

2 To start, you must select the correct PLC.


3 Select Configuration in the project browser to open the hardware configuration. Modify the number and size of the racks accordingly (example project: 12 racks with 12 TSX RKY 12EX slots).



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4 If you are using a double-width

power supply, you must "drag&drop" the CPU to position 1 in order for the correct power supply to be inserted (example project: TSX PSU 3610).

5 "Drag&drop" is also used to move the individual modules to the right slots

(example project: 112 digital inputs, 64 digital outputs; 8 analog inputs, 8 analog outputs

7x TSX DEY16D2, 4x TSX DSY 16T2, 2x TSX AEY 414, 2x TSX ASY 410).

Creating a New Project, continued

6 Double-click on the CPU's lower PCMCIA slot (B) to open a window listing the permitted PCMCIA cards. The TSX CPP 110 card must be selected for the CANopen bus (under Communication).

Repeat the procedure for slot A and enter memory card TSX MRP C001M (or higher if necessary).

Now save the project.


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1 Double-click on the relevant

module in the hardware view to open the configuration area for input and output cards. Configure each card individually and confirm your settings on completion.

2 Digital inputs (TSX DEY 16D2):

Eight inputs are grouped in one channel.

Each channel (0 and 8) must be assigned to the task to be performed.

The inputs of channel 8 can also be disabled (no function).

I/O Card Configuration

3 Digital outputs (TSX DSY 16T2):

Eight outputs are grouped in one channel.

Each channel (0 and 8) must be assigned to the task to be performed.

The behavior of each channel in the event of a fault and on restarting also needs to be defined. In respect of behavior in the event of a fault, a separate value can be defined for each output.

The inputs of channel 8 can also be disabled (no function).



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4 Analog inputs

(TSX AEY 414):

Each input is considered as an individual channel, which must be assigned to the task to be performed.

The type of signal (current, voltage, thermo) and a scale also have to be entered.

The inputs can also be smoothed using a filter function.

5 Analog outputs (TSX AEY 414):

Each output is an individual channel, which must be assigned to the task to be performed.

The type of signal (current, voltage) and a scale also have to be entered.

In respect of faults, a value to which the relevant output is set can be entered.

I/O Card Configuration, continued

6 The configuration must then be confirmed or validated. You can do this by either closing the configuration window or using the "Process-Validate" window.

Note: You can only save, close and generate the project after you have validated it.


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1 Double-click on slot B again to

open the configuration of the CANopen bus.

2 The configuration window is divided into a number of areas.

On the left you can select the association with the task being executed, in this case the master task.

The upper part of the window is for selecting the restart characteristics of the bus and the assignment of addresses for the input and output areas. An automatic bus restart is configured in the example project. The inputs start at address %MW0 and the outputs at %MW100. 32 words are provided for each area.

CANopen Communication

3 The most important configuration task is transferring the file from the Sycon software. This can be activated by clicking on the Select Database button.

Once the transfer is complete, the most important data appears underneath the file details. You can also choose here whether to use Unity or Sycon for bus configuration. In the example we are using Unity.



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4 Click the "Bus configuration"

button to display the individual bus devices in a new window.

Click on one of the devices in the list to display information such as the I/O addresses assigned on the right-hand side of the window.

Note: The addresses are shown from top to bottom in order of their position on the bus in the Sycon software. The CANopen node addresses are disregarded.

CANopen Commun-ication, continued

5 The configuration must then be confirmed or validated. You can do this by either closing the configuration window or using the "Process-Validate" window.

Note: You can only save, close and generate the project after you have validated it.

Ethernet Communi-cation

1 Next, select "New Network" under "Communication - Network" in the project browser.



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Ethernet Communi-cation, continued

2 In the "Add Network" window that now appears, specify "Ethernet" as the network type and enter a name for the network under "Change Name". Click OK to create the network.

3 Open the network and make the following settings in the sequence described:

1. Select the model family: In the case of TSX P57 3634M, you MUST select "TCP/IP 10/100 Normal connection".

2. Specify the IP address and subnet mask.

4 The final step consists of assigning the configured network to the hardware. To do this, switch to the hardware view and open the network connection by double-clicking on the CPU network connection. Proceed as follows:

1. Select the channel (in this case: channel 3).

2. Select the function (in this case: ETH TCP IP).

3. Select the network connection (the configured connection)


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Various hardware addresses, as well as flags and flag words, are using in the PLC example program. To facilitate orientation, an overview of the addresses used appears below in list format.

Type Address Comment

Digital inputs %Ir.m.x Digital inputs are specified on a hardware basis: r indicates the rack number, m the slot and x the input number. Example: Emergency-off feedback %I0.3.0.

Digital outputs %Qr.m.x Digital outputs are specified on a hardware basis: r indicates the rack number, m the slot and x the input number. Example: Indicator lamp for manual mode %Q0.5.1.

Analog inputs %IWr.m.c Analog inputs are specified on a hardware basis: r indicates the rack number, m the slot and c the channel number. Example: Emergency-off feedback %I0.3.0.

Analog outputs %QWr.m.c Analog outputs are specified on a hardware basis: r indicates the rack number, m the slot and c the channel number. Example: Emergency-off feedback %I0.3.0.

CANopen inputs %MW0 to %MW31

CANopen inputs are written to flag words; individual bits can be addressed via %MWi.x. Example: 2nd ATV status word %MW2

CANopen outputs %MW100 to %MW131

CANopen outputs are read by flag words; individual bits can be addressed via %MWi.x. Example: 3rd ATV status word %MW104

Data for Viewer %MW200 to %MW299

Data for Viewer is written to flag words. Individual bits are written via block BIT_TO_WORD. Example: Motor velocity %MW220

Data from Viewer %MW300 to %MW399

Data from Viewer is read by flag words. Individual bits are extracted via block WORD_TO_BIT. Example: Motor velocity %MW220

Address Overview

CANopen status %CHr.m.c Status data for CANopen is read via data structure T_COM_CPP110 (IODDT). Channel address: r indicates the rack number, m the slot and c the channel number. Example: CANopen status %CH0.1.1


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CANopen-bus-device data is addressed via flag words. An overview of addresses, data length (in words) and content appears in the table below.

Device Node Addresses

No. Data

ATV31 1 %MW0

%MW100

2

2

Status, actual velocity

Control word, setpoint velocity

ATV31 2 %MW2

%MW102

2

2



ATV31 3 %MW4

%MW104

2

2



ATV31 4 %MW6

%MW106

2

2



Lexium17D 5 %MW18

%MW118

4

3

Status, actual velocity, actual position


Lexium17D 6 %MW22

%MW121

4

3



Lexium17D 7 %MW26

%MW124

4

3



Lexium17D 8 %MW30

%MW127

4

3



ATV71 9 %MW8

%MW108

2

2



ATV71 10 %MW10

%MW110

4

4

Status, actual velocity, ramps

Control word, setpoint velocity, ramps

Address Overview for CANopen

ATV71 11 %MW14

%MW114

4

4

Status, actual velocity, ramps

Control word, setpoint velocity, ramps

Creating the Application Program

The application program logically simulates the machine and its function. This document and the example application are only able to outline the basic framework for a program of this type. The key steps required to create the application program are outlined below: 1. Creation of variables and I/O assignment

2. Creation of the state machines for the speed drives and servo drives.

3. Application program and logic creation (motor control, mode control, interfaces for visualization)

Creating Variables

1 Variables are declared and assigned to inputs and outputs in the Data Editor. The following information is required for a variable:

• Name

• Type

• Address (if applicable)

• Init value (if applicable)

• Comment Variables are created when they are entered in the Data Editor table.

2 In the example program, as well as elementary variables for digital and analog data, structures are also used for data exchange with the variable speed drives.

These can be created on the "DDT Types" tab in the Data Editor. As well as the name and comment, you need to declare the individual elements of the structure.

Right-click with the mouse and select "Analyze type" to complete the definition of the structure. The types can then be used in the context of variable declaration.


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DriveCom State Machine

1 The variable speed drives and servo drives are controlled via a state machine (DriveCom). For this purpose, a separate function block (DFB) is written for each in the example program.

The definition of a DFB also starts in the Data Editor ("DFB" tab), where the inputs and outputs, as well as the internal variables of the DFB, have to be defined. The program sections of the DFB can also be created here.

2 The DFB is programmed as structured text in two sections in the example program. One section involves the input data (Status) and the other the output data (Ctrl).

Programming is performed in the Editor, where code can be entered. Auxiliary functions for calling individual blocks are also available.

3 The blocks are called in the

section in which instantiation is to take place (the simplest way to call a block is to use the Ctrl+D or Ctrl+I shortcut). Once a block has been called, its name must be entered. The block can then be placed.

For the ATV31, the block manages the emergency stop, two directions of rotation, two velocities and the fault acknowledgement.



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DriveCom State Machine, continued

4 For the ATV71, the block manages the direction of rotation, the emergency stop and fault acknowledgement. The velocity can be freely defined.

Furthermore, the ramps can be modified in the speed drive (or this purpose, a secondary structure is provided in the block for the associated parameters). A switch for remote control has also been provided.

5 A block, which manages the Lexium state machine and transfers a speed setpoint to the amplifier is also available for the Lexium17D. It also receives the position and speed from the amplifier and outputs these values.

Note: See the information in the Lexium Manual in respect of the conversion of position and speed.

Creating the Logic

1 In the example program, the application logic has been programmed as a function block diagram (FBD). Completed units form a section. This must be entered first. You do this in the project browser, under Programs, in the associated task (right-click with the mouse to open the relevant menu).

2 Once you have created a new section you will need to enter a name and language for it. In the example programs, with the exception of automatic control, all sections are programmed in FBD.



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Creating the Logic, continued

3 The blocks (Ctrl+D) or popup menu (data selection) can then be called up in the section. Other elements such as links, negations or comments can also be accessed in this menu or via shortcuts.

4 A separate section in which

directions can be controlled and parameters defined has been provided in the program for each individual drive. Directions of rotation are controlled separately for each operating mode.

5 In the "application" section, the

operating modes are defined and general monitoring of the safety functions or CANopen bus takes place.

6 A sequencer has been provided

for automatic mode to control the machine sequence. Actions and step enables in the next step must be defined for each individual step.



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Creating the Logic, continued

7 Data is transferred between the PLC and Viewer in the "visu" section. It is here that the necessary data is written to/read from flag words. The principle that logic functions can only be executed in the PLC applies.

Program Download

1 Upon completion of programming, the entire project must be rebuilt. To do this, select the relevant menu item or button.

2 You must define the PLC address before establishing a connection with the PLC. In this case, the Unitelway protocol (UNTLW01) must be selected and the PLC SYS (standard system address) entered as the address.

3 The connection is established by

selecting "Connect" from the "PLC" menu or pressing the equivalent button. For it to work, the appropriate programming cable must be connected to the PLC.

4 The program can now transfer data to the PLC and the PLC can be started up.


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Program Download, continued

5 Note: If you want the PLC to start as soon as the download is complete, you must check the relevant box before starting the transfer.


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HMI

Introduction In this application, a Magelis XBT-G 2330 HMI connected to the PLC via the Unitelway

protocol is used. Vijeo Designer software is used to configure and program the terminal. The steps to be taken in order to create and upload a program are described on the following pages.

Proceed as follows to integrate the HMI:

1. Vijeo Designer function overview 2. Create new project (specify platform, hardware, communication). 3. Communication settings 4. Set up new variables 5. Set up animations 6. Check the project and download it 7. Overview of example project

Function Overview

1 The Vijeo Designer environment consists of the following elements:

1 Navigator

2 Information display

3 Inspector

4 Data list

5 Feedback area

6 Toolbox


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1 When Vijeo Designer starts up,

a selection window appears. Select "Create new Project".

The following steps appear automatically.

2 Enter a project name for the application and a comment (if necessary).


3 Next select the target device used and enter a logic name.

Example project:

• Target Name: "Target1"

• Target Type: "XBTG Series"

• XBTG Model: "XBT-G2330"



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4 In order to use the Ethernet

interface, you need to enter the IP address, subnet mask and, if applicable, the gateway.

5 In order to be able to exchange data with the control system, the Magelis terminal requires a communication driver. To set one up, click the "Add" button.

Creating a New Project, continued

6 Start by selecting "Schneider Electric Industries SAS" from the list under Manufacturer; for communication with the PLC, you will then be able to select the "Uni-Telway" driver as "Uni-Telway Equipment" under "Equipment".

Once you have selected a communication driver, you can complete the creation of the new project by clicking the "OK" button.


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1 Once you have created the

project, VijeoDesigner will display the workspace described above with an empty edit screen on the right-hand side.

Communi-cation Settings

2 To download the project, change the settings to Ethernet. To do this, right-click with the mouse on the target in the Navigator and select "Download" in the Property Inspector. In order that the project can be transferred to the Magelis HMI, you will need to select "Ethernet" as well as the IP address and the subnet mask.



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Communi-cation Settings, continued

3 The interface parameters must be declared to the Unitelway driver for communication with the PLC.

Right-click with the mouse on "Unitelway01" and select "Configuration…".

4 The interface parameters

required for successful configuration are:

• COM1

• RS-485

• 19,200 baud

• 8 data bits

The configuration must tally with the PLC port.



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Communi-cation Settings, continued

5 Finally, call up the configuration for the device set under "Unitelway01" in the Navigator "Unitelwaygerät01" (UnitelwayDevice01) and check the settings.

The default settings can usually be used, although you may need to modify the address if there are a number of devices on the Unitelway network.


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1 To create new variables in the

Navigator, select the "Variable" tab at the bottom of the screen.

Right-click with the mouse on "Target" to access a popup menu and select "New Variable" -> "New".

2 To create variables, the following information must be entered:

• Variable Name

• Data Type

• Data Source (External)

• Address in the PLC

Creating Variables

3 All memory types on the PLC can be addressed (in addition to flags (%M), words (%MW), double words (%MD), and floating points (%MF), also system bits (%S) and words (%SW), and constant bits and words (%K, %KW)). All data to be displayed on the Viewer must be transferred to one of these types.

4 The variables created are

displayed in the Navigator, along with their names and addresses.

In the example project, all variables (even Boolean variables) are assigned to flag words (the "Visu" section in the PLC program is associated with this).


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Creating Images

The process for creating animations on screens will now be described using an example text. The functions are similar for other animation elements.

1 Example: Enter text

Selection from the menu bar.

Various icons and elements are available in the menu bar and the toolbox.

2 Example: Edit text

The following information is defined:

• Font size

• Text content

• Font style

• etc.

3 Example: Animate text

Start by selecting the text element and calling up the dialog box by right-clicking with the mouse. Next select the "Animation" function.

You can also do this via the Properties screen (described above).



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4 Animation properties:

• Color

• Position

• Value

• Visible

After activation you can select a variable for the value animation and the display format.

5 The variable to be animated can be entered directly in the line or looked up by selecting the (symbol) at the end of the line (light bulb).

A variable name that has been entered but not recognized appears in red.

Additional functions, e.g., value inversion, can be executed by clicking on the calculator icon.

Creating Images, continued

6 The display opposite shows the completed startup screen in which the separate properties for animation and actions appear.

7 Property Inspector

Each animation element on the screen has its own Property Inspector (right-click with the mouse) via which all settings associated with the element can be viewed and modified.


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1 Before being downloaded to the

Touch Panel, the project must first be analyzed. To do this, select "Validate All" from the "Build" menu.

The results are listed in the Feedback Zone.

Project Download

2 Select "Download All" under "Build" to transfer the application to the connected Magelis terminal. The connection selected at the outset (Ethernet) is used.

Application Overview

1 The example application features a number of displays that can be selected by the user. The display opposite shows the main screen from where all other displays can be accessed. The application overview, providing access to error messages and safety indicators, as well as to the selection of the operating mode, also appears here.

In principle, all screens are structured in the same way and all essential system status data appears in the header. You can switch from one screen to another by clicking the buttons in the footer.



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Application Overview, continued

2 All drives can run in manual mode, controlled directly via the Viewer. To do this, you must switch to the relevant screen.

There is one button for forward travel and another for reverse travel. For the ATV71, you can also specify a velocity and set ramps by clicking on the "Set" button.

The status message and velocity display act as feedback.

3 Other screens include a diagnostics display and an overview of the CANopen bus nodes.


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Appendix

Detailed components list

Hardware components – Group 1: Master switch

Item Qty Description Part no. Rev./ Vers.

1.1 1 3-pin Compact Circuit Breaker NSC100

28122

1.2 1 3-pin terminal cover 28034

1.3 1 230 V undervoltage release 28082

1.4 1 Undervoltage release fuse and 230 V load contactor 1 A (type C MCB)

25020

1.5 1 Alarm accessories 1 NC contact 29450

1.6 1 Locking device 29370

Hardware components – Group 2: Emergency off Item Qty Description Part no. Rev./

Vers. 2.1 1 Emergency-off switch with overload

protection XALK178-G

2.2 1 Preventa safety relay XPSAF5130

2.3 1 Emergency-off safety fuse and 24 V load contactor 3 A (type C MCB)

25022

2.4 2 Redundant load contactor 25 A 230 V control voltage

LC1D25P7

2.5 2 Redundant load contactor 12 A 230 V control voltage

LC1D25P7

2.6 1 ACK and safety indicator pushbutton activated

XB5AW-36B5

2.7 1 Single pushbutton housing XALD01


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Hardware components – Group 3: Door safety


3.1 1 Preventa safety relay XPSAF5130

3.2 2 Door-safety switch XCSA701

3.3 1 Actuator for door-safety switch XCSZ02

3.4 1 ACK and safety indicator pushbutton activated

XB5AW-36B5

3.5 1 Single-pushbutton housing XALD01

Hardware components – Group 4: Control components


4.1 2 Primary fuse 3 A (type C MCB) 25022

4.2 1 Unity processor TSX P57 3634M

4.3 2 24 V DC 36 W power supply TSX PSY3610

4.4 2 Expandable backplane 12 slots TSX RKY12EX

4.5 7 Digital input module 16 inputs TSX DEY16D2

4.6 4 Digital output module 16 outputs TSX DSY 16T2

4.7 2 Analog input module 4 channels TSX AEY414

4.8 2 Analog output module 4 channels TSX ASY410

4.9 15 Terminal block for I/O modules TSX BLY01

4.10 1 Terminating resistors type A/B TSX TLYEX

4.11 1 Backplane connection cable TSX CBY010K

4.12 1 CANopen PC card type III TSX CPP110

4.13 4 Outgoing fuse 6 A (type Z MCB) 26139

4.14 4 Incoming fuse 1 A (type Z MCB) 26133

Hardware components – Group 5: Magelis HMI Item Qty Description Part no. Rev./

Vers. 5.1 1 Fuse 1 A (type C MCB) 25020

5.2 1 Magelis panel XBT-G 2330, 5.7", color, with Ethernet

XBTG2330

5.3 1 Interface cable to Premium PLC XBTZ968


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Hardware components – Group 6: 24 V power supplies


6.1 1 Three-phase fuse, 2.5 ... 4 A GV2ME08

6.2 1 400 V three-phase power supply, 24 V DC, 20 A

ABL7UEQ24200

Hardware components – Group 7: Variable speed drives, servos and load components


7.1 11 Motor circuit breaker 6.3 A GV2L10

7.2 11 Auxiliary-switch attachment GVAE11

7.3 4 Variable speed drive 0.37 kW single-phase

ATV31H037M2

7.4 3 Variable speed drive 0.75 kW three-phase

ATV71H075N4

7.5 18 Load contactor 9 A, 24 V control voltage

LC1D09BD

7.6 4 Lexium17D drive controller MHDA1008N00

7.7 4 Servo motor 0.6 kW SER39A4L7SRAA

7.8 4 Power cable, 3 m LXACPAAA031

7.9 4 Feedback cable, 3 m LXACFACA031

7.10 4 CANopen adapter for Lexium17D AMO2CA001V00

7.11 2 CANopen junction box for ATV31 VW3CANTAP2

7.12 4 CANopen cable for ATV31 1 m VW3CANCARR1

7.13 4 CANopen adapter for ATV71 VW3CANA71

Software components – Group 8


8.1 1 Unity programming software XL V2.0.2 UNYSPUEFUCD21 2.1

8.2 1 Unity <> PLC programming cable TSXPCX1031

8.3 1 Magelis XBT-G programming software Vijeo Designer

VJDSPULFUCDV10M 4.2.0

8.4 1 Magelis programming cable XBTZG915

8.5 1 Sycon configuration software V2.8 V2.8


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Component protection classes

Available installation locations/protection classes

Components In the field, on site IP 55/IP 65

Front IP 65 Control cubicle IP 20

Circuit breaker NSC100 X

Emergency-off switch housing XALK X

Preventa modules XPSAF5130 X

Position switch XCSA X

Single pushbutton housing XALD X

Illuminated pushbuttons and lamps, all colors, flat

X

Contactors, LC1, 230 V AC or 24 V DC, all ratings

X

Miniature circuit breakers, all types and ratings

X

Motor protection switches, all types and ratings

X

Phaseo power supplies

24 V DC, 20 A X

Premium PLC components X

CANopen taps with CAN cable X

Variable speed drives, ATV31 230 V AC, single-phase all rating classes

X

Variable speed drives, ATV71 4000 V AC, three-phase all rating classes

X

Lexium17D drive controllers, 400 V AC, three-phase all rating classes

X

Magelis XBTG touch panel, all versions

X

Performance characteristics of individual components

Power Premium PLC: TSX P57 3634M

A Premium PLC power base (3 Series) is used in the example, along with the associated modules for the inputs and outputs. The performance characteristics for the PLC (TSX P57 3634M) are as follows:

• 1024 digital I/O points, 128 analog I/O points

• 32 special modules (counter, axis control, etc.)

• Program memory: 192 kB (with PCMCIA card up to 1792 kB)

• 3 fieldbuses (Interbus, Profibus), 1 CANopen, 8 ASi encoders, 1 Ethernet

• Serial interface and built-in Ethernet link

• 5 programming languages (FBD, LD, SFC, IL, ST)

CANopen master module: TSX CPP 110 Master interface module for Premium PLCs with the following technical specifications:

• Compliance with standard DS301 V4.01

• Maximum configuration size for Premium PLC: 1 Series: 12 kB (384 flag words in the master task) 2 Series: 16 kB (512 flag words in the master task) 3 Series: 32 kB (1024 flag words in the master task) 4/5 Series: 64 kB (3584 flag words in the master task)

• Baud rates supported 125/250/500/1000 kbps

• Slave monitoring with node guarding or heartbeat

• Configuration via Sycon software

• Bus parameterization via bus backplane module on PLC

• Configuration sends PLC every time the power supply is connected

Preventa safety relays: XPSAF5130

• Category 4 to EN 954 Part 1

• 24 V DC

• 3 safety-orientated switching contacts

• Slimline design



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Power, continued

Phaseo power supply unit: ABL7UEQ24200

• 400 V AC/24 V DC

• 20 A secondary

• Temperature range: -10 to +50°C

• Parallel or series circuit possible (max. 2 devices)

• Short-circuit-proof and protected against overload

Altivar variable speed drive: ATV31H037M2

• 0.37 kW, 230 V AC single-phase

• Built-in class B EMC filter


• Velocity range 0 to 200 Hz

• Velocity control with flow vector check

• Operation via Modbus or CANopen possible

• 2 analog inputs plus 1 analog output

• 6 digital inputs

• 2 or 3 digital status outputs possible

• Protection of drive and motor

• Compact design, side-by-side installation also possible on a top-hat rail using bracket VW3A11852

Altivar variable speed drive: ATV71H075N4

• 0.75 kW, 400 V AC three-phase

• Built-in class B EMC filter


• Velocity range 0 to 1000 Hz

• Graphic display for control and parameterization

• Operation via Modbus, CANopen or other buses possible

• 2 analog inputs plus 1 analog output

• 6 digital inputs, 2 digital status outputs

• 1 shutdown output (emergency-off function)

• Expansion cards for buses, I/O, control

• Protection of drive and motor

• Compact design, side-by-side installation possible



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Power, continued

Lexium17D drive controller:

• 3.6 A, 400 V AC three-phase

• 0.75 A, 24 V DC auxiliary voltage

• Output current 3 A (overload 6 A)

• Temperature range 0 to 40°C

• Built-in line filter with CE certification

• Regulation: Current: 62.5 μs; velocity/position: 250 μs

• Controller can be configured for all brushless servo motors

• Configuration and programming software with built-in oscilloscope function

• 2 digital inputs, 5 digital outputs; 2 analog inputs, 2 analog outputs

• Built-in serial and CANopen interface

• Expansion cards for communication, e.g., Sercos, possible

Circuit breaker: GV2L10 • 6.3 A

• Short-circuit protection

• Magnetic activation 33.5 A

• Lockable


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Schneider Electric GmbH Steinheimer Strasse 117 D - 63500 Seligenstadt Germany Premium Lexium Altivar CANopen_EN.doc

As standards, specifications and designs change from time to time, please ask for confirmation of the information given in this publication. 81

Contact

Author Phone E-mail Schneider Electric GmbH Customer & Market System & Architecture Architecture Definition Support

+49 6182 81 2555 [email protected]

mailto:[email protected]

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