twido, magelis xbt-g2330 and lexium05 via canopen … · twido, magelis xbt-g2330 and lexium05 via...

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Twido, Magelis XBT-G2330 and LEXIUM05 via CANopen Version 1.35 This document describes a small application using a Twido-PLC, a LEXIUM05 drive connected via CANopen and a Magelis XBT-G2330 HMI connected via Modbus. The program example includes

-How to activate the operation modes: -Homing -Set position -Velocity mode -Point to point -Manual -How to write and read parameters -Error handling

Designed 16.09.2005 by Patrick Friedmann

Berger Lahr GmbHCustomer Support Center - Technical Support

Gewerbestraße 9 D-77749 Hohberg-Niederschopfheim.

Tel.: +49 7808 / 943-235 Fax: +49 7808 / 946-58 235

E-Mail: mailto:[email protected]

2

Components

TWIDO Modular TWDLMDA20RT

• 16 Digital Inputs Sink/Source integrated • 8 Digital Outputs (6 Relays and 2 Transistor source) integrated • Expandable with 7 additional modules

3

Lexium05

A universal drive with:

• Auto tuning on board, manual optimisation of the control loop with PowerSuite 2 • +/- 10V analogue signal interface • Pulse/direction and A/B signal interface • Field bus interface CANopen DS402 and ModBus RTU,

optional (in the future): Profibus DP • Safety stop integrated in the drive • 4 sizes (0,4-6kW) • Standard motors & drives combination are defined

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Magelis XBT-G2330

• TFT-screen, 5,7” • 256 colours • Uni-Telway, Modbus, Modbus-TCP/IP • Ethernet • 24V supply voltage • CF Memory card • Configuration software: Vijeo Designer

5

System configuration

TWID

OC

PUTW

DLM

DA

20D

RT

CA

Nop

enM

aste

rTW

DN

CO

1M

RS4

85Se

riall

ink

TWD

NO

Z485

D

Magelis XBTG2330

COM1 TOOL

Lexium05 Node-ID. 2

XBTZG999

Port 1

XBT Z968

XBTZG915

TSXPCX1031

Standard CAN cable

6

Visualization

Typical screen structure

Button FunctionTrend Trend display of the velocity Fault Fault page (only visible if a fault is active)

Main Main page with actual and set values Home Homing mode Set Pos Set position mode Vel Profile velocity mode PtP Point to point mode, manual mode Para Read parameter and write parameter Quit Quit drive error Save Para Saving the Magelis parameter values on the plc

Switch to Trend screen

Display of Actual and set values

Parameter (Read and write

values)

Switchboard

Name of Screen

Switch to Fault screen (appears only when a fault is active)

Action buttons

7

Structure of the screens

Main Page

Homing Mode

Save XBT parameter

Homing Parameter

Manual mode

Set position

Quit drive faults

Parameter

Velocity mode

Point to point mode

Fault Page

Only possible if an error is active

Trend

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Software

Hardware configuration

At first, the CANopen Master must be added on the extension bus (see also the Twido software reference guide). Then the eds-file of Lexium05 must be imported in the CANopen configuration tool. In this example a Lexium05 is used with node-id 2.

Import EDS

Insert Slaves

Edit Slave-Address

Supervision

Baud rate

9

The next step is the mapping of the PDO-objects. For the Lexium05 the first three PDOs are statically mapped and cannot be changed. PDO4 is free usable.

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List of Objects

Object indices

Transmission/ReceptionCOB-ID

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After the mapping the objects must be linked with the PLC.

Slave-PDO Master-PDO Transmission/ReceptionInsert

12

Finally the linked objects get symbols.

Symbols Object-name PLC-Address

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Internal memory words

The following table shows the used internal memory words

Group Subroutine Names of the variables Type Address Comment

Internal Bits Internal Type Address

Internal help flag Bool % M20

Internal help flag HF_00 Bool % M200 Internal help flag HF_01 Bool % M201 Internal help flag HF_02 Bool % M202 Internal help flag HF_03 Bool % M203 Internal help flag HF_04 Bool % M204 Internal help flag HF_05 Bool % M205 Internal help flag HF_06 Bool % M206 Internal help flag HF_07 Bool % M207 Internal help flag HF_08 Bool % M208 Internal help flag HF_09 Bool % M209 Internal help flag HF_10 Bool % M210 Internal help flag HF_11 Bool % M211 Internal help flag HF_12 Bool % M212 Internal help flag HF_13 Bool % M213 Internal help flag HF_14 Bool % M214 Internal help flag HF_15 Bool % M215

System signalsFirst_cyle_in_ run S13 Restore_ memory S95

Backup_OK S96

PLC_Status SW6

Slave_Status SW20 Number_of_ words_to_ save SW97

Config_ok SW81:X0 Data_ exchange_on SW81:X1 System_ stopped SW81:X2 Can_cmd_ done SW81:X3 Can_cmd_ fault SW81:X4 Fault_ initialization SW81:X5 Save_memory_words SW96:X0

Application_ok SW96:X6

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Magelis XBT XBT to Twido Twido to XBT Type

XBT Start_Homing Bool % MW100:X0

Start_Setpos Bool % MW100:X1

Start_Velmode Bool % MW100:X2

PTP_absolute Bool % MW100:X3

Start_PTP Bool % MW100:X4

Start_Para_Read Bool % MW100:X5

Start_Para_Write Bool % MW100:X6

Quit_Drive_Fault Bool % MW100:X7

Setpos_absolute Bool % MW100:X8

Stop_Velmode Bool % MW100:X9

Read_Error-Code Bool % MW100:X10

Save_OK Bool % MW100:X11

Save Bool % MW100:X12

Restore Bool % MW100:X13

Start_man_right_slow Bool % MW101:X0

Start_man_right_fast Bool % MW101:X1

Start_man_left_slow Bool % MW101:X2

Start_man_left_fast Bool % MW101:X3

Actpos Dint % MD102

Actvel Dint % MD104

Setpos Dint % MD106

Setvel Dint % MD108

Home_Type Int % MW110

Home_Axis Int % MW111

Home_Homepos Dint % MD112

Home_VHome Int % MW114

Home_VOutHome Int % MW115

Home_POutHome Dint % MD116

Home_PDisHome Dint % MD118

Setpos_Pos Dint % MD130

Setpos_Axis Int % MW132

Vel_Setspeed Dint % MD140

Vel_Axis Int % MW142

PTP_Setpos Dint % MD150

PTP_Setspeed Int % MW152

PTP_Axis Int % MW153

Pararead_Index Int % MW160

Pararead_Subindex Int % MW161

Pararead_Axis Int % MW162

Pararead_Data Int % MD164

Parawrite_Index Int % MW170

Parawrite_Subindex Int % MW171

Parawrite_Length Int % MW172

Parawrite_Data Dint % MD174

Parawrite_Axis Int % MW176

Error Dint % MD178

Fault_Homing Bool % MW180:X0

Fault_Setpos Bool % MW180:X1

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Fault_Move_Vel Bool % MW180:X2

Fault_PTP Bool % MW180:X3

Fault_Read_Para Bool % MW180:X4

Fault_Write_Para Bool % MW180:X5

Fault_Move_Manual Bool % MW180:X6

Fault_Drive Bool % MW180:X7

Manual_Slow Int % MW182

Manual_Fast Int % MW183

Manual_Axis Int % MW184

Functions

Name Subroutine Inputs Outputs Internal Type Address

BL_POWER_LX05 0 Enable Bool % MW1000:X0 not used at the moment!

Initialization Axis Int % MW1004 not used at the moment!

Status Bool % MW1002:X0 not used at the moment!

Error Bool % MW1002:X1 not used at the moment!

BL_HOME_LX05 1 Execute Bool % MW1100:X0

Homing Mode Position Dint % MD1104

HomeMode Int % MW1108

VHome Int % MW1110

VOUTHome Int % MW1112

POUTHome Dint % MD1114

PDISHome Dint % MD1118

Axis Int % MW1120

Temp1 Int % MW1122

Temp2 Int % MW1124

Done Bool % MW1102:X0

CommandAborted Bool % MW1102:X1 not used at the moment!

Error Bool % MW1102:X2

Busy Bool % MW1102:X3

BL_SETPOS_LX05 2 Execute Bool % MW1200:X0

Set position Mode Bool % MW1200:X1

Position Dint % MD1204

Axis Int % MW1206

Temp Int % MW1208





BL_MOVE_VELOCITY_LX05 3 Execute Bool % MW1300:X0

Velocity mode Velocity Dint % MD1304

Axis Int % MW1308

Temp Int % MW1310

InVelocity Bool % MW1302:X0

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BL_MOVE_PTP_LX05 4 Execute Bool % MW1400:X0

Point to Point: absolute + relative Absolute Bool % MW1400:X1

Position Dint % MD1404

Velocity Int % MW1408

Axis Int % MW1410

Temp Int % MW1412





BL_READ_PARAMETER 5 Enable Bool % MW1500:X0

Read Parameter Index Int % MW1504

Subindex Int % MW1506

Axis Int % MW1508




Value Dint % MD1510

Length Int % MW1512

BL_WRITE_PARAMETER 6 Execute Bool % MW1600:X0

Write Parameter Value Dint % MD1604

Index Int % MW1608

Subindex Int % MW1610

Length Int % MW1612

Axis Int % MW1614




BL_MOVE_MANUAL_LX05 7 Execute Bool % MW1700:X0

Manual movement Right_slow Bool MW1700:X0

Right_fast Bool MW1700:X1

Left_slow Bool MW1700:X2

Left_fast Bool MW1700:X3

Vel_Slow Int % MW1704

Vel_Fast Int % MW1706

Axis Int % MW1708




Temp Int % MW1710

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Overview of the application:

Name Rung Backup of the internal memory words 0-3 Initialization 4-8 Fault reset, application reset, helpflag reset 9-11 Data Exchange Twido -> Magelis XBT 12-20 Call Subroutines 21-33 Subroutine 1: Homing 34-74 Subroutine 2: Set position 75-98 Subroutine 3: Velocity mode 99-116 Subroutine 4: Point to point mode 117-136 Subroutine 5: Read Parameter 137-141 Subroutine 6: Write Parameter 142-146 Subroutine 7: Manual mode 147-171

Backup of the internal memory words (rung0-3)

After the first software download to the plc the contents of all memory words is zero. Some default values for those memory words are stored in the animation table “V100_XBT.tat”. Download them and start a backup (description see below). Now it is possible to save and restore the actual settings with the HMI. Here an example: Go to page “Vel” Change the parameter “Set speed” to 1111 Go to page “Save Para” Press the button “Save XBT parameter” (the button is green if it is possible) Go to page “Vel” Change the parameter “Set speed” to 2222 Go to page “Save Para” Press the button “Restore XBT parameter” Go to page “Vel” The parameter “Set speed” is 1111

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The Online help of Twidosoft describes how to save data in the internal EEPROM:

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Here is the description of the system bits (source: online help):

%S97 is true after the memory words are saved without an error. In the application it is not used.

Here is the description of the system words (source: online help):

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%SW96:X6 is true if the application is ok.

%SW97 is the number of words to be saved, starting with %MW0. In the application the value is 185, because the highest memory word of the Magelis XBT-interface is %MW184.

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Initialization (rung4-8)

This initialization routine is a possibility to start and check the used hardware. At first the state machines of all nodes are switched back to initialization mode. When the Slave is in status pre-operational and there was no error during the initialization all nodes are switched to operational. After the slave has switched his status the state machine of the drive is switched to enable and a fault reset is done. After that some system signals are checked.

Here is the description of the Can-command (source: online help):

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Here is the description of the system words %SW20 - %SW27 (source: online help):

Here is the description of system word %SW81 (source: online help):

23

Here is the description of system word %SW6 (source: online help):

Fault reset, application reset and helpflag reset (rung 9-11)

In rung 9 the reset bit is sent from the HMI to the drive. To reset the applications it is necessary to reset the busy-signals from the subroutines. The helpflags %M200-%M215 are used in the subroutines and get a reset every cycle.

Data exchange Twido->Magelis XBT (rung 12-20)

In these rungs the errors, the actual and set values of position and speed are sent from the Twido to the HMI.

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Subroutines

The subroutines are basing on a function block model:

Axis corresponds with the Node-ID. With a rising edge at the execute input the function starts. You can write a value to all input parameters. During the function is active, the busy signal is true. When the function is finished the output done is true until the next execution of the function. Error is true if a fault appears during the execution of the function. The internal variables are some memory words which are needed inside of the function block. In Twidosoft it is not possible to write function blocks that can be called directly in a rung. For those cases Twidosoft provides subroutines.

Axis

...

Execute

Parameter 1

Parameter 2

...

Parameter 3

Done

Error

Busy

BL_NAME-OF-THE-FUNCTION_LX05

Inputs Outputs...

...

Internal variables

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Homing mode (rung 34-74; function call in rung 21-22)

Name Subroutine Inputs Outputs Internal Type Address Comment

BL_HOME_LX05 1 Execute Bool % MW1100:X0 Start of the movement

Homing Mode Position Dint % MD1104 Position on reference point

HomeMode Int % MW1108 Type of reference run

VHome Int % MW1110 Speed for search for the switch

VOUTHome Int % MW1112 Speed for retraction from switch

POUTHome Dint % MD1114 Maximum run-off distance

PDISHome Dint % MD1118

Maximum search distance after traversing over the switch

Axis Int % MW1120 Node-ID

Temp1 Int % MW1122

Temp2 Int % MW1124





The homing mode is a standardised operation mode. Generally, to activate it the parameter operation mode (6060:0h) must be set to 06h. Then, after the reading of the actual operation mode (6061:0h) the reference type must be set (6098:0h). To start the movement the bit number 4 in the control word PDO1 must be true. The status word gives detailed status information.

Axis

POutHome

Execute

Position

Home mode

VOutHome

VHome

Done

Error

Busy

BL_HOME_LX05

PDisHome

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The CAN open technical documentation describes also the activation of the operation mode (source: Lexium05 CANopen documentation):

The NMT command Start Remote node is done automatically during the initialization of the bus. The activation of the power circuit happens in rung 7.

27

In the program example the function block BL_HOME_LX05 is called in the rung 21-22. In rung 21 the values from the HMI are connected with the function inputs. In rung 22 is the function call of subroutine 1. It is active as long as the busy-bit is true.

Generally, the subroutines are programmed as a sequence using the internal memory words. For example the bit %MW1122:X0 sets the bit %MW1122:X1, the bit %MW1122:X1 sets the bit %MW1122:X2, and so on. The last bit resets them all.

The subroutine starts in rung 34. Rung 35 is the initialization of the internal and output signals. Rung 36-37 writes parameter Position after reference (3028:Bh). When the data transfer on the Can bus is in progress, the system bit %SW81:X3 is false (rung 38). When the data transfer is done that bit is true again (rung 38). Then it is possible to write the next parameters Vhome (6099:1h), VoutHome (6099:2h), PoutHome (3028:6h) and PdisHome(3028:Dh) (rung 40-55). Now, as the technical documentation describes, the operation mode must be started by writing parameter 6060:0h with 6h (rung 56-59). After that the operation status must be checked by reading parameter 6061:0h. The contents must be 6h (rung60-63). In the rungs 64-67 the parameter reference movement method 6098:0h is transmitted and the start bit in the control word is set to false. Rung 69 starts the movement by setting the start bit directly in the control word. Rung 70-71 is the end of the operation mode. Therefore the information of the status word are used (source: Lexium05 documentation):

If everything is ok, the busy output is false, the done output is true, the internal help flags get a reset and also the start bit in the control word. When an error appears during that movement, an alarm bit is true and the function gets a complete reset (rung 72-73). With the return in rung 74 the subroutine is finished and the program continues in the main program.

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Set position (rung 75-98; function call in rung 23)


BL_SETPOS_LX05 2 Execute Bool % MW1200:X0 Start of the function

Set position Mode Bool % MW1200:X1Absolute or relative set position

Position Dint % MD1204 Position


Temp Int % MW1208





The operation mode set position is a special way of the homing mode. The drive does not move. In absolute mode (input mode = false) with the rising edge on the execute input the value on the position input is the actual position of the drive. In mode relative the actual position is the old actual value plus the position value (source: Lexium05 documentation).

Axis

Execute

Position

Mode

Done

Error

Busy

BL_SETPOS_LX05

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Velocity mode (rung 99-116; function call in rung 24)


BL_MOVE_VELOCITY_LX05 3 Execute Bool % MW1300:X0 Start of the movement

Velocity mode Velocity Dint % MD1304 Set speed


Temp Int % MW1310

InVelocity Bool % MW1302:X0 Set speed reached




In the profile velocity mode the drive is accelerated to an adjustable setpoint speed. When it is reached the output InVelocity is true. To stop the operation mode, the set speed must be zero. The profile velocity mode is also a standardised operation mode. Generally, to activate it the parameter operation mode (6060:0h) must be set with 03h. Then, after the reading of the actual operation mode (6061:0h) the movement starts by writing a set value directly to the target velocity on PDO3. The status word gives detailed information.

In the program example the function block BL_MOVE_VELOCITY_LX05 is called in rung 24.

The subroutine starts in rung 99. Rung 100 is the initialization of the internal and output signals. The operation mode must be started by writing parameter 6060:0h with 3h (rung 101-104). After that the operation status must be checked by reading parameter 6061:0h. The contents must be 3h (rung105-108). In rung 109 the movement starts if the set speed is different from zero, otherwise it stops. Rung 110 generates a help flag if the set speed is zero. Rung 111 is the end of the operation mode depending on the information of the status word. Rung 112 is necessary to delay the execution of rung 111. Rung 113 writes the output InVelocity. When an error appears during that movement, an alarm bit is true and the function gets a complete reset (rung 114-115). With the return in rung 116 the subroutine is finished and the program continues in the main program.

Axis

Execute

Velocity

InVelocity

Error

Busy

BL_MOVE_VELOCITY_LX05

30

Here are the information from the status word (source: Lexium05 documentation):

31

The CAN open technical documentation describes also the activation of the operation mode:

The enabling of the PDO is done automatically during the initialization of the bus, also the NMT command Start Remote node. The activation of the power circuit happens in rung 7. To set the acceleration ramp, deceleration ramp and restrict setpoint speed is optional.

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Point to point mode (rung 117-136; function call in rung 25)


BL_MOVE_PTP_LX05 4 Execute Bool % MW1400:X0 Start movement

Point to Point: absolute + relative Absolute Bool % MW1400:X1

Relative (false) or absolute (true) position mod

Position Dint % MD1404 Target position

Velocity Int % MW1408 Set speed for the movement


Temp Int % MW1412





In the point to point operating mode the drive makes a relative or absolute positioning with a adjustable speed. The profile point to point mode is also a standardised operation mode. Generally, to activate it the parameter operation mode (6060:0h) must be set with 01h. Then, after the reading of the actual operation mode (6061:0h) the movement starts by setting the bits in the control word of PDO2. The status word gives detailed information.

In the program example the function block BL_MOVE_VELOCITY_LX05 is called in rung 25.

The subroutine starts in rung117. Rung 118 is the initialization of the internal and output signals. In rung 119-122 the set speed (6081:0h) is set. The operation mode must be started by writing parameter 6060:0h with 1h (rung 123-126). After that the operation status must be checked by reading parameter 6061:0h (rung127-130). In the rungs 131-132 the set position is set in the target position in PDO2. Depending on the setting of the bits in the control word of PDO 2 the movement starts (in this program example Bit 5 is not used; source: Lexium05 documentation).

Axis

Execute

Velocity

InVelocity

Error

Busy

BL_MOVE_PTP_LX05

Position

33

Rung 133 is the end of the operation mode depending on the information of the status word. When an error appears during that movement, an alarm bit is true and the function gets a complete reset (rung 134-135). With the return in rung 136 the subroutine is finished and the program continues in the main program (source: Lexium05 documentation).

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Read parameter (rung 137-141; function call in rung 26)


BL_READ_PARAMETER 5 Enable Bool % MW1500:X0 Start function

Read Parameter Index Int % MW1504 Parameter index

Subindex Int % MW1506 Parameter subindex





Value Dint % MD1510 Data value

Length Int % MW1512

This function reads a parameter from the drive. In the program example the function block is called in rung 26. In rung 27 the output value is copied to the HMI-variables.

The subroutine starts in rung 137. In rung 138 is the read operation. Rung 139 sets the output done and rung 140 copies the value to the output. Rung 141 is the end of the subroutine.

Rung 27-28 reads the error code of the drive (603F:0) and copies the value to the HMI. This is an example how to use the functions.

Axis

Enable

Index

Done

Error

Busy

BL_READ_PARA_LX05

Subindex Value

35

Write parameter (rung 142-145; function call in rung 30)


BL_WRITE_PARAMETER 6 Execute Bool % MW1600:X0 Start function

Write Parameter Value Dint % MD1604 Value to write

Index Int % MW1608 Parameter index

Subindex Int % MW1610 Parameter subindex

Length Int % MW1612 Parameter length in byte





This function writes a parameter to the drive. In the program example the function block is called in rung 30.

The subroutine starts in rung 142. In rung 143 is the write operation. Rung 144 sets the output done and rung 145 is the end of the subroutine.

Important is the correct data length. Otherwise the operation does not work.

Axis

Execute

Value

Done

Error

Busy

BL_WRITE_PARA_LX05

Subindex

Index

Length

36

Manual mode (rung 146-172; function call in rung 31-32)


BL_MOVE_MANUAL_LX05 7 Execute Bool % MW1700:X0

Manual movement Right_slow Bool MW1700:X0

Right_fast Bool MW1700:X1

Left_slow Bool MW1700:X2

Left_fast Bool MW1700:X3

Vel_Slow Int % MW1704

Vel_Fast Int % MW1706

Axis Int % MW1708




Temp Int % MW1710

In the manual operating mode the drive has two speeds for each direction. The profile velocity mode is a manufacturer-specific operation mode. Generally, to activate it the parameter operation mode (6060:0h) must be set with FFh. Then, after the reading of the actual operation mode (6061:0h) the movement starts with writing parameter JOGactivate(301B:9h).

Axis

Execute

Vel_Slow

Done

Error

Busy

BL_MOVE_MAN_LX05

Vel_Fast

Right_slow

Right_Fast

Left_slow

Left_Fast

37

In the program example the function block BL_MOVE_MAN_LX05 is called in rung 31-32.

The subroutine starts in rung 146. Rung 147 is the initialization of the internal and output signals. In rung 148-151 the slow speed (3029:4h) is set, in rung 152-155 the fast speed(3029:5h). The operation mode must be started with writing parameter 6060:0h with FFh (rung 156-159). After that the operation status must be checked by reading parameter 6061:0h. The contents must be FFh (rung160-163). In rung 164 the movement starts in the right direction. In rung 165 the movement starts in the left direction. Rung 166 is necessary to stop the drive. When the movement has started the signal X_END in the status word is false (rung 167). When all of the four input bits are false and the X_END is true again the operation mode is finished rung 168). Rung 169 is for the error bit. The reset of the function is disabled. This is necessary if the manual should work although an error is active, for example to move the drive in the right direction from left limit switch. With the return in rung 171 the subroutine is finished and the program continues in the main program.

Summary

This application shows one possibility how to activate different operation modes at one drive, using the subroutines and memory words. It would be also possible to activate the modes using a sequence, step counter, … To use more drives is possible, but the software needs to be extended with the input and output variables of the further drives. This application does not use all available operation modes. There are some more, for example the current control mode. To use this example it is also necessary to use the Lexium05 device manual and the Lexium05 CANopen manual.

Designed 16.09.2005 by

Patrick FriedmannBerger Lahr GmbH

Customer Support Center - Technical SupportGewerbestraße 9

D-77749 Hohberg-Niederschopfheim. Tel.: +49 7808 / 943-235

Fax: +49 7808 / 946-58 235 E-Mail: mailto:[email protected]

www.berger-lahr.com

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