ix TxB SoftMotion Program example KI00355B

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1 1 Function and area of use With the HMI soft controllers in the ix TxB SoftControl series, any HMI application can have an intuitive graphic ix interface with total CODESYS control. The terminal ix TxB SoftMotion communicates with a servo amplifier (BSD-L7N) in an EtherCAT network. 2 About this Start Up document This Start Up document should not be considered as a complete manual. It is an aid to be able to start up a normal application quickly and easily. Use the following software and drivers in order to obtain a stable application: Programming software, Image, Driver (ix HMI to SoftMotion) See StartUp document KI00353 (ix TxB SoftMotion, Basic setting) Driver, CODESYS EtherCAT Master Library manager, CODESYS Standard IoStandard SM3_Basic IODrvEtherCAT SM3_Drive_ETC SM3_Drive_ETC_DS402_CyclicSync IecVarAccess In this document we have used the following software CODESYS 3.5 SP5 Patch 3 (compiler set to version though) ix Developer 2.10 Sp2 (build ) In this document we have used following hardware ix T7B SoftMotion BSD-L7NA004B 1 (31) Beijer Electronics Automation AB a Beijer Electronics Group company ~ dot, Head Office Subsidiaries Beijer Electronics Automation AB Norway, Drammen: Beijer Electronics AS, P.O. Box 426, Stora Varvsgatan 13a Finland, Vantaa: Beijer Electronics Oy, SE Malmö, SWEDEN Denmark, Roskilde: Beijer Electronics A/S, Telephone Estonia, Tallinn: Beijer Electronics Eesti Oü, Fax Latvia, Riga: Beijer Electronics SIA, Lithuania, Kaunas: Beijer Electronics UAB, Reg no VAT no SE info@beijer.se

2 For further information we refer to ix Developer Reference Manual (MAxx831) ix Developer User's Guide (MAxx832D) Driver help in ix Developer CODESYS, Manuals and help in the software ix TxB SoftMotion, Basic setting, KI BSD - Beijer Servo Drives - Basic Settings, KI This document and other Start Up documents can be obtained from our homepage. Please use the address manual@beijer.se for feedback on our Start Up documents. 2 (31)

3 3 Table of Contents 1 Function and area of use About this Start Up document Table of Contents First step! Program example ix Developer project Servo Background Servo Main (Start-up) Servo Parameter Servo Tuning Servo Homing Servo Alarm Main Settings Main Settings Diagnostics CODESYS project Structure Program - BeijerMain Program - prggeneralethercathandling Program prgservoautotuneparameter Program prgservocontrol Program prgcostumer Global variable list and structured data type Task Configuration EtherCAT master EtherCAT slave SoftMotion drive Export Variables to ix HMI Transfer CODESYS project to ix TxB SoftMotion Import of variables Import Import rules for connected import file Timeout settings for the connection to SoftController Download ix project to ix T7B SoftMotion Hardware ix TxB SoftMotion, BSD-L7N Installation (31)

4 4 First step! Read StartUp document ix TxB SoftMotion Basic setting, KI Prepare the computer and the programming tools CODESYS and ix developer. Add ix TxB SoftMotion to CODESYS Add ix TxB SoftMotion to ix Developer Install the driver for ix HMI to the SoftMotion Note! Always use the correct version of the drivers and software! 5 Program example The folder ProgExample_TxB_SoftMotion contains the program example from this StartUp document. Download from homepage! 4 (31)

5 5.1 ix Developer project Servo Background This screen is the background for every other screen in the project. The top and bottom banners are consistent throughout the entire project. Top Banner, Indicators/Status Act. Torque Displays the actual Torque in Nm. Act. Pos Displays the actual Position in user-defined units. Act. Speed Displays the actual Speed in user-defined units per second. Shows node address of the currently selected servoaxis. Buttons on each side changes axis to display down/up. Indicates with green light if the axis is standstill and ready Indicates with green light if the axis is without error. Top Banner, Button Stops the current displayed servo axis Enables the current displayed servo axis. Indicates with green light when ServoAxis is ServoOn Bottom Banner, Navigational buttons Shows the start-up screen (this screen). Show parameter screen. 5 (31)

6 Show the tuning screen. Show the screen for general options. Show the screen for manual homing. Show the screen for active alarms. 6 (31)

7 5.1.2 Servo Main (Start-up) Jog Jog Speed Jog acc/dec Determines the speed of Jog command. Determines the acc and dec ramp of the jog command Start a Jog command forward direction. Start a Jog command reverse direction. Positioning Cmd. Position Cmd. Speed Cmd. Acc/dec Determines the position data the position commands will use Determines the speed the position commands will use Determines the acc and dec ramp of position command Start an Absolute position command. Start a Relative Position command. General Status Indicates with green light if the servo axis is busy. Indicates with green light if the servo axis is done executing a position command. Textbox which shows an error descripton and is only visible once an error is active. Attemps to reset the current alarm. 7 (31)

8 5.1.3 Servo Parameter Possibility to read/write from/to optional parameter in the servo amplifier. Parameter Index no. Servo parameter number to read from in [hex]. Index description A short description of the parameter. For more details, see the servo amplifier manual. Sub Index no Servo parameter sub index number to read from. For more details, see the servo amplifier manual. Value Value that is read/ written, from/to the servo parameter. Presented in both decimal and hex. Read (button) Reads the value from the selected parameter and sub index. Write (button) Writes the value to the selected parameter and sub index. Busy Application is executing either a Read or a Write command. Done Application is done executing previous command. Error Indicates with a red colour when there is a reading error. E.g. Wrong parameter number and/or sub index number, or wrong write value limit. Store all (EEPROM) Save all servo parameters to EEPROM. If not saved to EEPROM changes will disappear at power off. 8 (31)

9 5.1.4 Servo Tuning Auto tuning parameters Load inertia. Current load inertia value from the servo amplifier in [%]. Speed gain Current speed gain value from the servo amplifier in [rad/s]. Speed I time Current speed I time value from the servo amplifier in [ms]. Pos Gain 1 Position Gain 1 value from servo amplifier in [Hz] Read (button) Reads the auto tuning parameters. Write (button) Write parameters to servo amplifier. Auto tuning operation Start (button) Executes an auto tuning operation. Axis will rotate forward and reverse to adjust parameters above. Done Indicates with green colour when autotuning done. Store all Save all servo parameters to EEPROM. If not saved to EEPROM changes will disappear at power off. 9 (31)

10 5.1.5 Servo Homing If absolute encoder is used, the homing will set the encoder to zero by resetting the encoder and write to flash. If incremental encoder is used, the homing will trig a Home operation defined by the parameter 0x6098 which is default set to 35 = No movement, position will be set to 0 without flash write operation. Set zero position Set (button) Requests a homing operation. Busy Indicates with a green colour during the homing operation. HomeDone Indicates with green colour once homing operation is done (31)

11 5.1.6 Servo Alarm Servo error Errors that has occurred for servo amplifiers. Active Red indication if there is an active alarm in the servo amplifier. Error code The servo error code number (hex). Refer to the servo manual for extended information. Display Text shown on the servo amplifiers LED display. Name Servo error name. Details Servo error details. SoftMotion error Errors that has occurred for SoftMotion function blocks in the CODESYS application. Active Red indication when a function block error has occurred. Text Error description (31)

12 Note 1 From any state. An error in the axis occurred. Note 2 From any state. MC_Power.Enable = FALSE and there is no error in the axis. Note 3 MC_Reset AND MC_Power.Status = FALSE Note 4 MC_Reset AND MC_Power.Status = TRUE AND MC_Power.Enable = TRUE Note 5 MC_Power.Enable = TRUE AND MC_Power.Status = TRUE Note 6 MC_Stop.Done = TRUE AND MC_Stop.Execute = FALSE 12 (31)

13 5.1.7 Main Settings Stop Deceleration Determines the Stop Deceleration speed [units/s^2] Date & Time Date and time settings for the operator panel. IP settings IP settings for the operator panel. Settings are only possible for Ethernet port LAN A (programming). LAN B is used for EtherCAT communication to the servo amplifiers. Time zone Time zone settings for the operator panel. Diagnostics Shows the screen for viewing PLC diagnostics (31)

14 5.1.8 Main Settings Diagnostics SoftController - Diagnostics Comp.Version Version of the internal diagnostics component in hexadecimal format. May be used in service / maintenance / repair situations. Diag.Comp.Version Version of the internal diagnostics component in hexadecimal format. May be used in service / maintenance / repair situations. TxB CPU Load Amount of used CPU capacity in [%] Task name Name of the task with given index. Interval Interval for the task with given index. Cycle time Cycle time of the task with given index. Average cycle time Average cycle time of the task with given index. Min. cycle time Min cycle time of the task with given index. Max. cycle time Restart EtherCAT (button) Max cycle time of the task with given index. Restarts the EtherCAT master in the application (31)

15 5.2 CODESYS project Structure The CODESYS SoftMotion program example is prepared for 8 servo axis and consists of following Parts: Program - BeijerMain Program BeijerMain is written in ST (Structured Text editor) and contains the code to call the remaining programs beneath. It also handles the references of the applications Servo Axes Program - prggeneralethercathandling Program prggeneralethercathandling is written in ST and initiates some basic parameter for the EtherCAT master as well as handles the forced EtherCAT reset command. For more information see the StartUp document mentioned in chapter 4 [First Step!] 15 (31)

16 5.2.4 Program prgservoautotuneparameter Program prgservoautotuneparamter is written in ST and it contains the code for auto tuning the servo axes as well as reading/writing single parameters. Initiates the auto tuning Read auto tuning results Write auto tuning parameters Abort an ongoing auto tuning Display error code of the auto tuning Program prgservocontrol Program prgservocontrol is written in ST and it calls and loads the Function Blocks for controlling the servo Axes. Beneath is some of the functionality of the program. Commands (Power, Reset, ReInit, Stop) Jog (Speed, Acc, Dec) Absolute positioning (Position, Speed, Acc, Dec) Incremental positioning (Position, Speed, Acc, Dec) Program prgcustomer Program prgcustomer is written in FBD (Function Block Diagram) and is empty. This is where you put program functions that are not directly tied to servo functions. Or you can make a new program (POU) and add it into task Main Global variable list and structured data type There is several declared global variables, one of many is g_aservo which has the data type ARRAY [1..8] OF strservo. This means that each servo axis 1 to 8 share the same structure of variables, which facilitates the programming and management of variables. Another declared variable is g_servo which is just like g_aservo a type of strservo. The main difference is that g_servo only exists in one copy of the same structure of variable as g_servo, contrary to the g_aservo which exists in 8 instances[1..8]. The idea of using a single instance strservo is to show only one Servo Axis in the panel, thus minimizing the tags exported to ix Developer application. Beneath is a screenshot taken of both the Struct strservo and the GVL gvlbe 16 (31)

17 Beneath is a screenshot from within the gvlbe showing the same struct strservo being declared as both an type ARRAY [1..8] OF and a single instance. Beneath is a screenshot taken of what the inside of the struct looks like (31)

18 Pictures below shows the syntax for the global variable Servo and the difference between servo axis 1 and 2. Axis 1 Axis 2 The function block input Axis is the data type AXIS_REF_SM3 and is directly connected to de servo amplifier driver SM_Drive_GenericDSP402 see picture below (31)

19 5.2.8 Task Configuration There is one task configured in the CODESYS program example. EtherCAT_Master. Put your own programs at the end of this task, there is no need to use separate tasks unless you run into high CPU load issues. The EtherCAT_Master task is using distributed clock and executes every 4000µs (4ms) (31)

20 5.2.9 EtherCAT master The EtherCAT master should have following settings: EtherCAT slave The EtherCAT Slave should have following settings: 20 (31)

21 21 (31)

22 SoftMotion drive The SoftMotion drive should have following settings: In this menu it s possible to set software limits, if needed and the velocity ramp profile. In the next menu, the ratio between units in your application (e.g. position [units] or speed [units/s]) and the motor revolution is defined. Let s say you have a linear drive that moves 10 mm in one motor revolution. That means that you have to enter 10 pulses for the position in your application to make the linear unit to move 10 mm. The increments should always have the value 16#80000 (hex) since the motor encoder has (dec) pulses/revolution. Codesys uses float values for all positions so we strongly suggest the use of mm or degrees as base unit for your program. If you want to position 12.36mm, then you simply tell it to go to rather than having to enter 12360, keep it simple! 22 (31)

23 5.3 Export Variables to ix HMI In CODESYS we have to make a XML file for import to ix Developer. In order to be able to export application variables from CODESYS to ix HMI a Symbol configuration is needed. The XML file for ix Developer is created when you transfer the project to the TxB SoftMotion or Generate code in menu Build. The file is saved in same library as the CODESYS project. Double click on Symbol configuration. Choose variables you want to export to ix Developer. In this case: All variables but g_aservo (data type: ARRAY[1..8] OF strservo) Click on menu bar: Build Generate code (31)

24 5.4 Transfer CODESYS project to ix TxB SoftMotion A gateway needs to be created in order to communicate between the PC and the HMI. Double click the TxB SoftMotion option under Devices Select the Communication setting options Press Scan network and wait until scanning is done All CODESYS devices on the network will be listed below the gateway. The last two number (11) in the id [004F.C011] are the last group in ip-address (Hex 11: Dec 17). Hint 1: If nothing is found, make sure your SoftMotion terminal is using build 0183 (check bottom left when booting, if it shows build 0166 you need to update the image). Hint 2: You can also type in the IP-adress in the right combobox, default is , but if you can ping it then it usually finds it when scanning (31)

25 Select the device that the project will be downloaded to and press Set active path. This device will be highlighted by a bold font. Download the project to the device (TxB SoftMotion) which was selected above menu Online select Login. The project will now be downloaded to the device Set the PLC (SoftMotion) to RUN with F5 or the symbol When all are green (see picture), the SoftMotion is running! 25 (31)

26 5.5 Import of variables Import In Functions, double click the Tags option In the window, choose the Import tags to option Select the CODESYS V3 import format (Import Modules) and browse to the location where the CODESYS project is saved Choose the xml file with the same name as the CODESYS project and press Open. Mark Connect selected import file to project. Select Import or Refresh Select All items and press OK Press OK in the Import Completed dialog The imported variable(s) should now be featured in the Tags list 26 (31)

27 After import, check that following tags have the correct gain (31)

28 5.5.2 Import rules for connected import file The import module makes it possible to import symbols and structs from XML export files generated by CODESYS. Click on. to add rules for import Function in Import module This would import all tags starting with application or which included the text HMI Click Import to Select Tags to import 28 (31)

29 5.5.3 Timeout settings for the connection to SoftController In the Controllers folder, select the Settings option In the dialog, choose Settings Check the settings. This picture has default value. Timeout and Driver help 29 (31)

30 Download ix project to ix TxB SoftMotion Finally download the ix project to the device Menu Project Select Download After the validation is performed, a screen with the available devices appears. Highlight the chosen one and press Download. After download, the ix application starts up and communicates with the ix TxB SoftMotion 30 (31)

31 6 Hardware ix TxB SoftMotion, BSD-L7N 6.1 Installation Connect ix TxB SoftMotion to BSD-L7N like the picture (LAN B). Standard RJ-45 cable. 24 VDC COM 1/2 LAN A USB LAN B COM 3/4 CN4: In CN3: Out Ethernet EtherCAT 31 (31)