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Contents
1. TwinCAT System Manager – Overview 1
1.1. Introduction 1
1.2. Characteristics of the I/O system 1
1.3. Philosophy of the I/O system 2
1.4. Characteristics of NC Systems 2
Linear positioning (PTP)........................................................................... 2
Servo/master functions............................................................................. 3
Servo/slave functions ............................................................................... 3
CNC ......................................................................................................... 3
2. User interface of the TwinCAT System Manager 5
2.1. User interface 5
2.2. General operator control possibilities 6
2.3. Menu 7
2.4. Logger and watch windows 8
3. System configuration method 10
3.1. System configuration 10
3.2. PLC configuration 10
3.3. Defining an I/O device 11
3.4. Defining an I/O module 12
3.5. Defining a terminal 13
3.6. Linking variables 14
3.7. Creating mappings 17
3.8. NC configuration 19
Inserting an NC task............................................................................... 19
Inserting an NC channel......................................................................... 20
Axes and their subelements ................................................................... 20
Encoder ................................................................................................. 21
Drive ...................................................................................................... 21
Controller ............................................................................................... 21
Axis variables......................................................................................... 21
3.9. NC hand menu 21
Channel ................................................................................................. 21
Group..................................................................................................... 22
Axis ........................................................................................................ 22
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Encoder ................................................................................................. 23
Drive ...................................................................................................... 23
Controller ............................................................................................... 23
3.10. Commissioning an axis 23
4. Managing a system configuration 31
4.1. Checking the configuration 31
4.2. Activating the system configuration 31
4.3. Deactivating the system configuration 31
4.4. Saving the system configuration 31
4.5. Loading a system configuration 31
4.6. Starting / restarting TwinCAT 31
5. Reference 32
5.1. General 32
5.2. Variables 32
Variables – online................................................................................... 34
5.3. Realtime configuration 34
5.4. Additional tasks 35
Creating additional tasks ........................................................................ 36
5.5. PLC projects 36
Inserting a PLC project........................................................................... 36
Single PLC projects................................................................................ 37
Multitasking in the PLC........................................................................... 38
Inserting variables .................................................................................. 38
5.6. I/O devices (field buses) 40
Beckhoff II/O Lightbus............................................................................ 40
Profibus DP............................................................................................ 41
InterBus-S .............................................................................................. 45
CANopen ............................................................................................... 50
DeviceNet .............................................................................................. 52
SERCOS................................................................................................ 53
CANopen ............................................................................................... 54
Printer interface...................................................................................... 56
COM interface........................................................................................ 56
Beckhoff IPC – special keys and UPS.................................................... 58
Beckhoff CP9030 ................................................................................... 59
Motherboard Diagnostic – SMB.............................................................. 60
Online display of the DPRAM ................................................................. 61
5.7. Field bus boxes (bus couplers etc.) 61
General notes on field bus boxes ........................................................... 61
Bus coupler ............................................................................................ 61
Boxes specific to II/O Lightbus ............................................................... 67
Profibus devices with a GSD- file ........................................................... 71
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Supported software tasks ,(& 636 (up to four run time systems (cf. PLC documentation) with
up to four tasks each; the tasks of one PLC run time system share one
process image)
NC/CNC tasks
Special I/O tasks for direct forwarding to user programs
Further user-defined tasks
32
Limitations Number of variables: unlimited ( < 2 )
Number of tasks: < 64 (TwinCAT System limitation)
Number of field buses simultaneously in use: unlimited (limited by the
hardware only)
32
Size of individual process images: unlimited ( < 2 ) (IEC 1131 SPS
exception: limited to 64kByte inputs and outputs each)
Task-task communication With the aid of the TwinCAT I/O system, "Inputs and outputs" of one task
can be exchanged cyclically with the "Outputs and inputs" of another task.
Data consistency is guaranteed.
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Multilingual capability The user interface of the TwinCAT System Managers is multilingual. The
program automatically starts in the national language that is set in
Windows NT (if the language is available). Additionally, the required
language can be changed during the run time by selecting the "Options /
Language" menu item.
English and German are currently supported.
Process images Variables are always assigned to precisely one process image, i.e. the
address of the variable is unique within its process image, but only within
this process image. Every software task and every field bus has precisely
one process image (Exception: tasks of a PLC run time system share a
common process image).
Field bus independence The nature and structure of the field bus used need not be known when
defining and programming the software tasks participating in the TwinCAT
System. Programming is done with the aid of logical variables that are
defined locally within the respective software.
It is only in the TwinCAT System Manager that these logical variables are
associated with other variables, which correspond either to physical inputs
and outputs on the field bus or logical variables of other tasks. The type
and the special characteristics of the respective field buses need not be
known or need not be taken into account.
Master axis types Servo, stepper motor axes, rapid traverse/creeping axes, table axes, virtual
axes (encoder axes), FIFO axes,
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Slave axis types Servo, table slave (cam disc), multi-table slave (slave with several series
and parallel cam discs), parallel and diagonal coupling (“flying saw“).
Setpoint generators (i) Actual setpoint generators:
e.g. run time table generator in SVB task,
e.g. external for table axis.
(ii) Setpoint data retention:
e.g. run time table in abbreviated form,
e.g. table of output data,
e.g. FIFO with output data.
(iii) Tables/FIFO types:
Master table axis, generally time-controlled
Time -> (position,[speed, acceleration, ...]).
Table slave, generally as point-to-point control
Master position -> Slave position.
(iv) Setpoint output in SAF task:
e.g. offsetting of run time table data in output data and its output,
e.g. output of table data,
e.g. FIFO management and output of data.
Servo/master functions
Basic functions Start from current position to target at nominal speed, acceleration,
deceleration, jolt and possibly automatic reduction of the nominal speed if
the distance is too short to reach the nominal speed.
Stop, i.e. controlled stop.
Speed override.
Extended functions New target position: travel to a target position set online or stop if the latest
target position has been exceeded or if stopping in good time is no longer
possible.
Endless in the forwards/reverse directions.
Special functions Distance compensation with start and stop.
Servo/slave functions
Basic functions Coupling (at standstill) a slave axis to a master axis with a coupling factor
(transmission factor).
Decoupling at standstill.
Online modification of the coupling factor.
Extended functions Online decoupling with conversion of the slave axis to a master axis for
individual stopping of the slave and master axis.
Special functions Distance compensation with start and stop.
Topologies Star configuration,
Linear configuration (cascade).
CNC
Structure The topmost unit is an NC channel, which is characterised by the fact that
it possesses precisely one interpreter that defines and synchronises the
dynamics of all the channel's axes. A channel may consist of several
groups, whereby a group is characterised by the fact that it possesses
precisely one setpoint generator that converts the interpreter NC
commands for the group to synchronised dynamics of all axes in the group.
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Interpreter There are various types of interpreter which are special expansions of
DIN66025. The interpreter enables the realisation of radius and tool
compensations as well as geometric operations (mirroring) on the contour.
Groups Look ahead, automatic curve speed reduction
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Tree structure
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Deleting tree elements There are also several possibilities of deleting elements from the tree (the
requirement being that the element to be deleted is marked in the tree):
1. <ENTF> key
2. Toolbar: by clicking the icon shown on the left
3. Context menu: the context menu is opened by right-clicking the
corresponding element in the tree or by pressing the keystroke
combination <ALT-ENTER>. A menu item for deleting is offered in
this context menu.
Context menu Besides insertion and deletion, further actions referring to the element may
also be offered in the context menu of a tree element, e.g.:
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Element-oriented view When an element is selected in the tree, a element-oriented view is offered
– provided it is available – on the right-hand side in the form of file cards.
Depending on the element, further information is also displayed in the
bottom portion of the right-hand side (see Figure).
The file card sliders can be selected by clicking them and provide further
information or input possibilities for the respective tree object.
Keyboard operation All operator controls can also be reached by means of the keyboard and
without the mouse.
.H\V
6ZLWFKLQJIURPZLQGRZWRZLQGRZ You can switch between the individual windows by
pressing the <F6> key and the <SHIFT-F6> key
(tree -> file cards -> additional display (if available) -
> tree...).
6ZLWFKLQJEHWZHHQILOHFDUGVOLGHUV When the window with the file cards is selected,
switch with the <TAB> or <SHIFT-TAB> key
through the control elements until the tab has the
focus. Then select the desired tab with the arrow
keys.
2SHQLQJWKHFRQWH[WPHQXVRIWUHH Select the desired element and then press the
HOHPHQWV <ALT-ENTER> keys.
2.3. Menu
The menu items that exist in addition to normal Windows programs are
briefly explained below.
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Variables can be displayed via their context menus in the watch window or
can be removed from it.
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Enter the path and the name of the PLC project with its file extension (.pro)
or select the corresponding project file on your data medium.
A further point, which bears of the name of the PLC project, is added under
’PLC configuration’. The symbol and the symbol indicate an entry
contains a further sub item. The underlying entries open or close when you
click these icons.
If you now open the tree as far as possible, you arrive at the following
structure:
All variables that have been declared as inputs/outputs in the PLC program
are now listed under the ’Inputs’ and ’Outputs’ items. The notation is <POE
name>.<Variable name>.
In the case of multitasking projects, cf. "Multitasking in the PLC" on Page
38.
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Select the device type, e.g. ’II/O Lightbus C1220’. The device name can be
chosen freely.
A dialog box now opens on the right, in which you can specify the
configuration or the interface card. One important setting is the I/O address
of the C1220 card under the ’C1220’ tab, for example. If you have not
made any changes to the card’s default settings, you can accept the
existing entries.
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Select the field bus module type, e.g. ’BK2000’. The field bus module name
can be chosen freely.
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For example, select the terminal with the designation KL 1104. Proceed
analogously with the KL 2114 and KL 9010 terminals. In the terminal
selection, you will find the bus terminal KL 2114 under ’Digital output
terminals’ and the bus terminal KL 9010 under ’System terminals’. Make
sure that the terminals are added in the right orders. Then, the
configuration has the following structure:
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Automatic generation of By the insertion of field bus devices, boxes and modules, variables are
variables on the field bus generated automatically and are placed in the process image of the
respective field bus device. For example, if a four-channel digital input
terminal is inserted, four binary input variables are generated and are
sorted into the process image of the field bus device. The address of the
variables is only relevant for internal diagnostic purposes because all
necessary address calculations are realised by the System Manager.
Linking variables To link variables, the corresponding variable must be selected in the tree
view (if necessary, expand the display further) and you must either open its
context menu or you must click the "Linked with..." button on the right. The
following dialog opens:
Linking dialog
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In this dialog, possible variables with which the currently marked variable
can be linked are displayed. The variables are displayed with their name,
address (referred to their respective process image), type and owner. In
the case of more complex variables – e.g. structure members – extended
information (hierarchical name similar to path information) can be created
when the mouse is positioned over the respective name (requirement: the
"ToolTip" check box has been selected).
Advance selection of offered The selection of offered variables can be influenced by way of the check
variables boxes and radio boxes located on the right.
6KRZYDULDEOHV
8QXVHG Only variables that have not yet been linked with
other variables are displayed
$OO Even already linked variables are displayed (this is
meaningful in the case of multiple linkings).
6KRZYDULDEOHW\SHV
6XLWDEOHW\SH Only variables are displayed that are of the same
type as the currently selected variable
6XLWDEOHVL]H Only variables are displayed that have the same
size as the currently selected variable
$OOW\SHV All variables are displayed regardless of their type
and size
Sorting the display The list of variables can additionally be sorted according to the criteria
Address, Name, Type and Owner.
Multiple Linking Multiple linkings can be realised in two ways, but their result is once again
identical.
1. One variable is linked with several others. To do this, several
variables are selected in the list of available variables in the linking
dialog (use the Ctrl and shift keys).
2. Several variables are linked with one and the same variable. To do
this, you create the first link in the normal way and, for the next links,
you must select "Show variables > All" to ensure that the target variable
already linked appears in the dialog again.
Make sure that only input variables are multiply linked. Multiple linking of
! output variables may lead to undefined states.
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Linking variables of differing If variables of differing size are linked ("6KRZYDULDEOHW\SHV!$OOW\SHV), the result
size of linking is no longer unique. Depending on the "&RQWLQXRXV" check box,
either the following dialog appears ("&RQWLQXRXV" nor selected):
In the example shown, the source variable is one bit large and the variable
with which it is to be linked is 9 bits large. In the dialog, you can specify an
offset so as to ensure that the desired bit in the 8 bit large variable with
which the individual bit of the source variable is to be linked can be
selected.
If the "&RQWLQXRXV" check box is selected, the variables are automatically
allocated continuously (without a corresponding dialog). That is to say, if an
8 bit large output variable, for example, is linked and if one or several bit
variables are selected in the dialog, these are linked continuously (the first
bit variable with the first bit of the output variable and the second bit
variable with the second bit etc.).
Linking of multiple linking In some cases, it is sensible to link multiple linking with the linking of
and variables of differing variables of differing sizes. For example, if eight digital inputs are defined
sizes on the field bus, but their input result actually consists of one coherent
byte, one input byte can be defined in the PLC and this byte can be linked
with the eight bits.
To do this, you select the corresponding byte in the input image of the PLC
in the tree view and you open the linking dialog. To ensure that the
required eight bits appear in the list, you must select the (" 6KRZYDULDEOHVW\SHV!
$OOW\SHV) item. All eight bits can now be marked together. When you end the
linking dialog, the above-described "Variable size difference" dialog
appears for each of the eight linkings and you can specify one offset for
nd
each bit (1st bit > Offset = 0; 2 bit > Offset = 1; ...).
Alternative An alternative approach (particularly in connection with the PLC) is offered
by the possibility available in the PLC of defining several variables at the
same address. Therefore, it is possible to define one input byte, e.g. at the
address %IB 7, and to simultaneously define eight input bits at the
addresses %IX 7.0, %IX 7.1 etc. Now, the input bits can be linked normally
with the input bits of the field bus and both bit-by-bit as well as byte-by-byte
access to the input data is possible within the PLC.
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Block linking A selection is made in the variable group view (see left and bottom) and a
context menu can be opened by right clicking.
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All necessary mappings are generated by clicking the tool bar icon shown
on the left or by selecting the "Actions / Create mappings" menu item. The
result is inserted in the tree view under the main item "Mappings".
The displayed information only serves diagnostics purposes and, with the
following exception, does not require any further treatment.
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3.8. NC configuration
If TwinCAT is installed with NC functionality, a "NC configuration" item
exists in the System Manager’s tree view. In this menu item, the required
axes can be created and their parameters can be set. During TwinCAT’s
run time, the axes can then be moved and adjusted via corresponding
online pages (hand menus).
Inserting an NC task
Creating the NC By inserting an NC task, you integrate an NC configuration into the current
configuration: system configuration and you created the corresponding initialisation
commands for the NC server.
Besides the NC-SAF task (block execution), you implicitly also create an
NC-SVB task (block preparation). The cycle time and the priorities of the
tasks can be adapted in the corresponding dialogs:
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Inserting an NC channel
Adding a channel Individual point-to-point axes (PTP) and also groups of axes (e.g. an
interpolating 3D contour group) are sorted into channels in the TwinCAT
NC System. Therefore, in the next step at least one channel must be
added under the NC-SAF task. Two kings of NC channels are currently
available for selection:
1. Standard channel: In the standard channel, axes that do not belong to
specific groups of axes during system initialisation are created. These
particularly include PTP axes, which are moved as independent axes
independently of other axes, but also of contour axes that are not
grouped – online – until after initialisation and are then interpolated
with other axes when moved. Normally, only one standard channel
exists because the sequence of the axes defined in the channel is
irrelevant.
2. Interpreter channel: an interpreter channel contains the axes that are
supplied together by one interpreter. These axes are sorted into
groups, whereby a group is defined by its own setpoint generator.
That is to say, interpolating axes of an interpreter channel are linked in
a group and any necessary auxiliary axis that is controlled by the
same interpreter, but which has a setpoint generator of its own, is
placed in a further group.
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Encoder
Selecting a type:
The type of the encoder or of its I/O port can be selected in the combo box.
When you select the "Linked with..." button, all correspondingly existing I/O
ports are listed and you can select the one your require. All necessary
variable associations are created automatically.
Drive
Selecting a type: As in the case of encoder, the type of the drive or its I/O port can be
selected and can associated with the corresponding port (see Encoder)
Controller
Selecting a type: Here, you can select the controller type. The controller does not required
an I/O association, with the result that no association is necessary.
Axis variables
Under the "Inputs" and "Outputs" items, one structure each is automatically
inserted which generally has to be associated with the PLC. To do this,
corresponding variables must be created in the PLC (the structure
definitions can be found in "PLCNC.LIB"). These structures serve the
purpose of exchanging information between the NC and the PLC (e.g.
enabling signals etc.). See also "Linking variables"
Channel
Channel menus (i) In the case of CNC channels: interpreter (selection of interpreter
types).
(ii) Online (display of the actual values and setpoints of the axes
belonging to the channel).
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Group
Group menus (i) DXD (group parameters).
(ii) Online (display of the group status).
Axis
Axis menus (i) Global (general parameters).
(ii) Dynamics (dynamic parameters).
(iii) Online (axis hand menu, basic functions) .
(iv) Functions (extended functions).
(v) Coupling (master slave functions).
(vi) Compensation (special functions).
The Online menu allows you to set the essential starting parameters such
as:
(i) Target position
(ii) Nominal speed,
(iii) Reference speed,
(iv) Controller Kv factor,
and to call up the fundamental axis functions such as
(i) Start,
(ii) Stop,
(iii) New target position.
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Encoder
Encoder menus (i) NC encoder (encoder selection)
(ii) Global (general parameters).
(iii) Incremental (special parameters).
(iv) Online (display).
Drive
Drive menu (i) NC Drive (drive selection).
(ii) Global (general parameters).
(iii) Analogue (special parameters).
(iv) Stepper motor (special parameters).
Controller
Controller menus (i) NC controller (controller selection)
(ii) Global (general parameters).
(iii) PID (special parameters).
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Bit 0 1 2 3 4 5 6 7
Weighting 1 2 4 8 16 32 64 128
Example: in the bit pattern 00101011, the bits 0, 1, 3 and 5 are "1". The
affiliated weightings are 1, 2, 4 and 32. Therefore, the total to be entered is
39.
Actual value acquisition: Without correct acquisition of actual values, an axis is "blind" and cannot
direction determination behave in a co-ordinated fashion. Therefore, commissioning must begin
here. To this end, two items of information must be determined or checked:
the counting direction and the increment evaluation.
• Find out or define which motion direction of the axis is to be "positive"
or "ascending" or "upwards". When travelling in this direction, actual
value acquisition must return ascending values.
• If you have a possibility of electrically blocking the drive and of moving
the axis manually, turn the drive so that the machine moves in the
"positive" direction, for example, and observe the actual value display
in the online display of the axis.
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• If this possibility is not available, you must necessarily turn the axis
with the drive. This means that you are commissioning an
unparametrised axis. Particular caution is necessary because you will
be rendering all controls and monitoring functions inactive. The axis will
be run with pure pilot control and with fictitious data. Proceed as
follows:
• If you can isolate the load from the drive (e.g. by removing belts or
other transmission elements) without also isolating the encoder,
then it is imperative that you should do this!
• Set a value of 1.0 on the global tab of the controller for the pilot
control weighting.
• If the controller has a PID tab, set the positioning control factor Kp
(and all other control factors) to zero. Deactivate the automatic
offset adjustment.
• In the global tab of the drive, set the output limits to +0.1 or–0.1.
• If the drive has an analogue tab, set the reference speed to a
fictitious (not to low a) value and set the reference output ti 1.0. Set
drift compensation to zero.
• At the maximally allowed speed, in the global tab of the axis set
the same value as in the case of the drive's reference speed. Set a
tenth of the same value under speed manual max. and speed
manual min.. Deactivate all end stop, following error and other
monitoring functions.
• Make sure that there is no one in the danger zone.
• With extreme caution (hand on the Emergency Stop button),
electrically activate the axis. It must not exhibit any motion from
any drift.
• In the online display, use the <F2> or <F3> key to now start the
axis in the "lower" or "higher" direction and observe the machine
while doing so. If the machine should move in the "higher" direction
when you press <F2> and if it should move in the "lower" direction
when you press <F3, modify the motor polarity in the global tab of
the drive and repeat this step.
• Now compare the motion direction of the machine with the
counting direction of the actual value display in the online display.
If the counting direction is opposite to the defined direction of motion,
modify the inverted encoder counting direction (polarity) parameter in the
encoder's global tab. In doing so, you should denergise the drive.
Actual value acquisition: Once the counting direction of the drive has been determined, you must set
increment evaluation the increment evaluation. This value must be set in the scaling factor on
the encoder's global tab.
• The value can be calculated if the feed rate per revolution and the
number of increments (not the number of pulses !!!) are known.
Nevertheless, check the value as follows.
• If you still do not know an increment evaluation value, at least set an
estimated value. If you have no information whatever about the value
that needs to be set, select a fictitious value such as 0.01 mm.
• When carrying out a later check, it goes without saying that you should
base your actions on the previously determined value.
• You must now "run" a trial movement (as when determining the
direction" over a known distance. The correct value is then calculated
on the basis of the currently set scaling factor multiplied by the actual
distance divided by the displayed distance.
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Actual value acquisition: This point is only necessary for absolute encoders.
datum offset In the case of incremental systems, at this time (with the drive switched off
followed by reset in the online display of the axis) you should set the actual
value to a meaningful value. You will find the entry boxes and function keys
needed for this purpose on the function tab of the axis. You should enter
the value 0 as the value for zero point correction. To adapt the dimension
system of the axis to the machine, on these encoders you use the
calibration function, whose parameters will be determined in a later step.
• Determine the position of the axis within the machine. No rules of
thumb can be given here. This can only be defined by the machine
manufacturer. In many cases, the distance from one reference point on
the moving machine part to a reference point on the fixed machine
body is chosen.
• If it should not be possible to determine this position to the required
degree of accuracy, make a provisional setting and repeat this step
later.
• Set the difference between the determined position and the displayed
position with the inverse sign in the datum offset on the encoder’s
global tab. If a value is already entered there, alter the existing value
by the new one by adding up. If positioning control should already be
active (when repeating this step later), you should electrically shut
down the drive and you should reset the axis before switching on
again.
• Example: the determined position is 752.0 mm, whereas the displayed
position is 1983.52 mm. Therefore, the difference is 1231.52 mm. If still
no value is entered in the datum offset, you can directly enter–1231.52.
If a datum offset should already be entered, add the new value.
Therefore, in this example, the new value–1081.52 mm would result
from +150.0.
Further encoder parameters: The encoders offer a series of operating modes as an optional setting. For
example, these include determination of the actual speed or of the actual
acceleration. If required, these measurements can be activated in the
encoder's global tab. If these values are not relevant, though, they should
be cancelled because determination of the values increases the real time
load slightly.
A modulo factor can be set as a further possibility. This is particularly
interesting in the case of round axes because the relative position within
one revolution and the number of revolutions can be determined
automatically.
The drive parameters: • Use the encoder! Limit the travel distance with the aid of the software
direction determination end stop Min / Max on the global tab of the axis.
• In the global tab of the drive, set the output limits to +1.0 and/or –1.0.
• Set a value of 2.0 on the global tab of the controller for the pilot control
weighting..
• If the controller has a PID tab, set the position control factor Kp (and all
other control factors) to zero. Deactivate the automatic offset
adjustment.
• If the drive has an analogue tab, set reference speed according to the
machine manufacturer's data to an approximately correct value and the
reference output to 1.0. Set the drift compensation to zero.
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• In the global tab of the axis, for Maximum allowed speed, set the same
value as for Reference speed of the drive. Set a tenth of the value
under Speed Manual Max and Speed Manual Min.
• If the controller has a PID tab, set the position control factor Kp (and all
other control factors) to zero. Deactivate the automatic offset
adjustment.
• In the online display, now start the axis with the <F2> or <F3> key in
the "lower" or "higher" direction and observe the machine. If the
machine should move in the "higher" direction when you press <F2>
and if it should move in the "lower" direction when you press <F3>,
change the motor polarity in the drive’s global tab and repeat this step.
The drive parameters: pilot This point is only necessary if the drive has an analogue tab.
control • Set a value of 1.0 for the pilot control weighting on the controller’s
global tab.
• In the drive's global tab, set the output limits to +1.0 or –1.0.
• On the PID tab of the controller, set the position control factor Kp to a
low value. If the setting is correct, the following error will be clearly
recognisable during the trial runs, but will be constant. Example: 1
(mm/sec)/mm or 60 (mm/min)/mm.
• On the drive's analogue tab, set the Reference speed to an
approximately correct value confirming to the machine manufacturer's
data. Set the drift compensation to zero. According to the machine
manufacturer's specifications, set the reference output to 1.0 if it refers
to 100% (or 10 V). For a 90% (or 9 V) setting, for example, set 0.9
accordingly.
• In the global tab of the axis, set approximately 90% of the value of the
drive's reference speed for Maximum allows speed. Under Speed
Manual Max and Speed Manual Min, set a tenth of the value.
• On the dynamics tab the axis, set a provisional value of approximately
200mm/s² for acceleration and deceleration and a jolt of 500mm/s³. If
the constant speed should not be reached on the available travel
distance with these values, then increase the values while retaining the
ratio.
• In the online display, now start the axis with the <F2> or <F3> key in
the "lower" or "higher" direction and observe the signs of the overall
outputs and of the controller output.
• If both values have the same signs, the axis is reacting at a lower
speed than taken into account by the pilot control. In this case, reduce
the Reference speed. If the signs are opposite, the axis is faster than
planned by the pilot control. Then, increase the Reference speed.
• If the controller output is clearly lower than 10% of the overall output,
the Speed Manual Max can be set in steps to higher values up to
approximately 50% of the maximum speed. Continue the trial runs with
the <F1> and <F4> keys.
• If the pilot control setting is good, the controller output should show
less than 1% of the total output. Difficult mechanical conditions do not
always allow such an exact adjustment, however.
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The drive parameters: This setting is only possible if the drive has an analogue tab.
Drift compensation When an analogue setpoint is specified, a voltage offset frequently occurs
between the controller and the power section. This may consist of a real
voltage drop. The cause, however, is almost always due to the fact that the
zero point adjustments of the two sides do not agree. In this case, the axis
will slowly move out of its position with the position control switched off, i.e.
it will drift. An active position controller will stop it at quite a distance from
the nominal position. This involves a greater or lesser following error,
however.
In this case, it is possible to compensate the offset with a constant speed
offset. At the same time, however, the DAC resolution of a few mV has a
disturbing effect.
Alternatively, some controllers offer the possibility of automatic offset
compensation.
The drive parameters: In some cases, it is necessary to limit the control of the power section that
output limiting is output with a drive. You will find corresponding input possibilities on the
global tab of the drive. However, you should not make this setting until you
have completed axis commissioning. Up to this time, the values–1.0 and
+1.0 should be entered there for the minimum and maximum limits.
Otherwise, the measurement described here would be manipulated.
Position control: Generally, under TwinCAT axes are operated with a pilot control weighting
pilot control weighting of 1.0. In rare cases, it may necessary to deviate from this setting. This is
case whenever the axis exhibits a highly non-linear relationship between
control and speed. Hydraulic valves with bent characteristics are an
example. In this case, the weighting must be reduced until the axis no
longer exhibits any leading behaviour. Here, it is generally necessary to
use more complex controller types with an I component in order to achieve
an acceptable positioning responses.
Position control Position control serves to compensate slight residual positioning errors.
These residual errors may be caused by load changes, friction-related and
other non-linearities, slight inaccuracies in a series of axis parameters,
offsets and temperature dependence relationships etc.
Position P controller With this controller, a compromise must be found between the wish for
control that is as complete as possible (i.e. a large Kp) and a slight
tendency of the system to oscillate (i.e. a low Kp). In practice, it has been
found that this compromise can be found swiftly by increasing the Kp value
in steps.
The method is conceivably simple, i.e. carry out trial runs in both directions.
During constant travel, pay attention to smooth running of the axis without
any recognisable position control oscillation. At the same time, a slight
noise component in the controller output can be ignored. In the approach to
the target, make sure that the axis never exhibits any tendency to oscillate
(recoil). The Kp factor can be increased in small steps (factors of 1.2 to
1.5) until the axis exhibits the first signs of a tendency to oscillate. Then,
the Kp factor should be reduced by approximately 20% to arrive at a safety
clearance from the stability limit.
As already mentioned, some controllers offer the possibility of an automatic
offset adjustment. This function can be activated on the controller's PID
tab. Then, the filter time and the pilot control limit must be specified as
parameters.
Generally, a value within the range of some seconds is advisable for the
filter time. In any case, it must be remembered that the filter time should be
very high in comparison with the response of the axis. If it is too low, a so-
called phase shifter oscillator occurs: then, the axis oscillates at a very low
frequency.
With the pilot control limit, it is possible to ensure that automatic adjustment
during active positioning is not limited by dynamic behaviour of the axis. A
nominal speed above this value results in "freezing" of the offset.
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Position PP controller This controller only differs from the aforementioned controller by virtue of
the fact that it is possible to apply a Kv value during active travel that is
different to the one applicable to position control around standstill.
Here, a second Kv value and a speed threshold can be set as additional
parameters. The result is a floating transition between the Kv values in the
speed range between 0 (standstill) and the threshold.
Axis parameters A series of further parameters can be set on the global tab of the axis that
define the behaviour of the axis and which control a series of monitoring
functions and status signals.
With the maximum speed, you can define what value all inputs to the axis
are to be limited to. Here, you should set a value of around 90 to 95% of
the drive’s maximum speed. The remaining modulation is needed for the
controller to ensure correct positioning.
When using an NC interpreter, certain commands position the axis with
control actions that correspond to a rapid traversing speed. Here,
approximately no more than 90% of the maximum speed of the axis should
be selected.
The Min and Max manual travel speeds can be chosen freely and depend
more or less on the operator’s "courage". In practice, it has proven
expedient to set these speeds approximately to a 1 to 5 ratio. It goes
without saying that the values must be less than the maximum speed.
Speed referencing travel in the positive direction only affects axes with an
incremental encoder. The axis travels at this speed when searching for the
calibration cam. The direction is set on the encoder’s incremental tab.
Speed referencing travel in the negative direction only affects axes with an
incremental encoder. The axis moves at this speed when moving away
from the calibration cam and when searching for the synchronisation pulse.
The direction is set on the encoder’s incremental tab.
The positive / negative direction pulse width values define the distance to
be travelled over that is covered when the axis is started by the PLC in the
corresponding travel modes. For further details, refer to the PLC module
descriptions.
You can activate a travel range limit in both the downward and upward
directions and you can set the position.
In the case of axes with an analogue tab (i.e. not in the case of rapid
traversing/creep or stepper motor axes), the following error (difference
between the nominal and actual positions) is determined constantly.
Monitoring of this value with an adjustable threshold can be activated. At
the same time, a filter time can be specified that prevents alarming
whenever the threshold is exceeded briefly, e.g. during acceleration or
deceleration.
Two windows can be placed around the target position of a motion. The
width of the windows can be chosen freely. In this way, it is possible to
generate a signal to the PLC at any distance from the target. One of these
windows additionally offers a filter time. The signal is not generated until
the axis was inside the window without interruption for the period of time
set there.
In the case of rapid traversing/creep axes, it is possible to always travel to
each target from the same direction and over a minimum distance. In the
event of asymmetrical axis response or mechanical looseness, this ensure
greater accuracy. This response can be activated and the distance can be
specified. The sign of the set distance defines the direction.
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5. Reference
The information about and possible settings of the individual elements and
their context menus are described below.
5.1. General
Almost all tree elements have the "General" tab.
"General" tab
5.2. Variables
Variables represent the "smallest" unit in the TwinCAT I/O system. In the
tree view, variables are always at the tips of the branches, i.e. variables
have no further subelements.
Cyclic I/O data exchange in the TwinCAT system takes place by the
association of individual variables from different sources.
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Write online...
Allows you to influence the value of a variable once while TwinCAT is
active.
Online force...
Allows you to influence the value of a variable permanently when TwinCAT
is active.
Release force
Cancels permanent influencing of a variable’s value.
Add to watch window
Insert a variable in the System Manager’s watch window.
Remove from watch window
Removes a variable from the Manager’s watch window.
"Variable" tab
"Flags" tab
Swap LOBYTE and HIBYTE: makes the TwinCAT I/O system swap the
low and high bytes of the variable when
copying.
Swap LOWORD and HIWORD: makes the TwinCAT I/O system swap the
low and high words of the variable when
copying.
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Variables – online
"Online" tab
Value:
The current online value of the variable is displayed here.
Force...
Allows you to permanently influence the value of a variable when TwinCAT
is active.
Cancel
Cancels permanent influencing of the variable’s value.
Write...
Allows you to influence the value of a variable once when TwinCAT is
active.
Base time: TwinCAT base time is the shortest possible cycle time of a
task. Multiples of the base time can also be used as a
basis for the cycle time. The base time should only be set
to less than one millisecond if required and on
correspondingly fast PC systems.. 1ms, 500µs, 333µs,
250µs, 200µs, 125µs, 100µs, 66µs and 50µs are possible.
The smaller the base time, the greater the overhead
required for the transfer between Windows and TwinCAT
real time.
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CPU Limit: Indicates the percentage CPU part, which the TwinCAT
real time occupies, the remainder is guaranteed reserved
for Windows (and therefore also for UI programs). The
value can be set very high, since Windows automatically
resets, when the real time tasks come to the end of their
cycle.
Fast Tick: Only for special TwinCAT expansions, which require a
faster tick, independent of the basic time (e.g. cam
switches).
Jitter Warning: The TwinCAT real time functions on almost all PC systems
with extremely low vibrations (Jitters). These vibrations are
constantly measured. If an adjustable limit is exceeded, a
warning can be produced by the system.
Router memory: Stated here is the max. memory available for TwinCAT in
the real time environment. This memory is required for
internal communication and also for the SPS symbols. If
SPS programs have a high number of symbols, this value
should be increased.
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The additional task appears in the tree and is automatically assigned the
Process image, Inputs and Outputs subitems.
"Task" tab
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Automatic recognition of By default, the TwinCAT System Manager monitors the file dates of PLC
PLC project changes projects and automatically prompts you to read them again in the event of
changes.
"IEC1131" tab
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Example When a PLC project is read, all variables are assigned to the first PLC task
(the first PLC task is the topmost task in the task configuration within the
TwinCAT PLC Control).
Within the TwinCAT System Manager, it is now possible to assign
individual variables to a different task by moving them by means of "Drag
and Drop" to the inputs or outputs of a different task.
Result When the PLC project is later read again, the task mappings of the
individual variables are retained.
New variables added after reading again are again allocated to the first
task and can be moved in the same way.
Inserting variables
Under the Inputs and Outputs subitems, variables can be inserted which
are sorted into the process image of the task.
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As the result of the insertion of new variables, the size of the process
image of the task is adapted automatically.
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Address: the card’s DPRAM address can/must be set here. This address
is jumpered on the card and may assume the following values
(corresponding settings of the jumpers J1 – J6):
0xC8000 00 1000
0xD0000 01 0100 (default)
0xD8000 10 0010
0xE0000 11 0001
Search: searches for existing C1220s in the computer (only when
TwinCAT is active)
Check number of boxes: when this check box is selected,
the physically existing number of boxes is compared on
initialisation of the card with the number that is specified under
this card in the System Manager. An error message is
generated if the number does not agree.
K bus update with broadcast telegram (0x80): defines whether, when
bus couplers are connected, the K-bus update is to take place
single for each bus coupler or simultaneously for all bus
couplers by means of a broadcast telegram
Reserved CDLs: the C1220 has eight priority channels (CDLs) that
are normally also used freely by the System Manager. If
individual CDLs are to be left unused – in special applications,
they must be marked here
"DPRAM (Online)" tab See "Online display of the DPRAM" on Page 61.
Inputs diagnostics The C1220 automatically has four input bytes that describe the status of
the card of the fibre-optic ring:
DeviceState: general status, which only assumes the values 0 OK
and 1 error
DeviceIioFunc: Function number that triggered the error (cf. see C1220
manual)
DeviceIioFuncArg: function argument (cf. see C1220 manual)
BoxWithError: box number where the error occurred
Profibus DP
Siemens CP5412A2 The DPRAM of the CP5412A2 has a size of 64 Kbytes. No interrupts are
used.
– Master
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Online Reset
Initiates an online Reset on the Profibus.
Address: the card’s DPRAM address is set here. This address is set by
the software when the card is initialised
Port: the port address of the card that is set by means of a DIL switch
on the card is set here. By way of the port, the DPRAM address
specified above is set when the card is initialised. Available
ports (in hex) are (corresponding DIL switches 1-4):
240-243 0000 (default)
244-247 0001
248-24B 0010
24C-24F 0011
280-283 0100
284-287 0101
288-28B 0110
28C-28F 0111
300-303 1000
304-307 1001
308-30B 1010
30C-30F 1011
390-393 1100
394-397 1101
398-39B 1110
39C-39F 1111
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"Profibus" tab
"DPRAM (Online)" tab See "Online display of the DPRAM" on Page 61.
Inputs diagnostics The Siemens CP5412A2 automatically has two input bytes that describe
the status of the card and of the Profibus:
DeviceState: general status, which only assumes the values 0 OK
and1 error
DeviceDpState: DeviceDpState is a flag byte; the individual bits have the
following meanings:
0x00 = No error
0x01 = Transmitter fault
0x02 = Master address fault
0x04 = HSA fault
0x08 = Baudrate fault
0x80 = Temp fault
If the CP5412A2 is used in a Beckhoff IPC with a 24V UPS and/or special
! keys, the port address must be set from 0x240 to a different value because
0x240 is used by the IPC.
Hilscher CIF30-
DPM and -PB
Master
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"DPRAM (Online)" tab See "Online display of the DPRAM" on Page 61.
Siemens SPC3 / With the aid of the Profibus DP – slave field bus card, the TwinCAT system
can be used as a slave in a Profibus.
IM182 – Slave The DPRAM has a size of 1536 (0x600) bytes. No interrupts are used.
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"DPRAM (Online)" tab See "Online display of the DPRAM" on Page 61.
Inputs diagnostics The Siemens SPC3/IM182 automatically has one input byte that describes
the status of the card and of the Profibus:
Flags: the individual flags have the following meanings:
0x01 = NEW_OUTPUTS
0x02 = CLEAR_MODE
0x04 = NO_DATA_EXCH
0x08 = BAUD_SEARCHING
0x10 = SYNC_MODE
0x20 = FREEZE_MODE
Variables can be defined under the inputs and outputs for the exchange of
data with a Profibus master. These variables are exchanged with the
Profibus master and can be associated within TwinCAT.
Variables are inserted analogously to the "Additional tasks" in the "Inserting
variables" section on Page 38.
InterBus-S
Hilscher CIF40- The CIF40-IBSM is an InterBus-S master card.
The DPRAM of the CIF40-IBSM has a size of 2 Kbytes. No interrupts are
IBSM used.
Context menu Add box... <Ins>
Adds InterBus-S boxes.
The following boxes are currently supported (see further below for a
detailed description of the boxes):
1. BK4000 bus coupler
2. General InterBus-S box. The identification code and length must
be specified or predefined boxes must be selected
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Online Reset
Initiates an online Reset on the InterBus-S.
Address: the card’s DPRAM address can/must be set here. This address
is jumpered on the card and may assume the following values:
from 0xC8000 to 0xEF800 in increments of 0x800
Search: you can use this function to search for CIF-40 cards in the
computer (only when TwinCAT is active)
Cycle ticks: the cycle time with which the InterBus-S is to be served (in
ms) is set here
"DPRAM (Online)" tab See "Online display of the DPRAM" on Page 61.
Inputs diagnostics The CIF-40 automatically has two input bytes that describe the status of
the card and of the InterBus:
GlobalFlags: The individual bits have the following meanings:
0x01 = Ctrl: parameterisation error
0x02 = W1Err: at least one defective W1 interface
0x04 = W2Err: at least one defective W2 interface
0x08 = SysErr: system error occurred
0x10 = Mod: at least one slave signals a module error
0x20 = Rec: at least one slave requests configuration
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Phoenix IBS ISA The IBS ISA ST-I/T is an InterBus-S Master Card.
The DPRAM (MPM) of the IBS ISA ST-I/T is 4 KByte. No interrupts are
ST-I/T used.
Context menu Add box... <Add>
Adds InterBus S boxes.
Currently, the following boxes are supported (more detailed description on
the boxes to follow):
1. BK4000 Bus coupler
2. General InterBus-S Box. The identity code and the identity length
are stated and/or pre-defined boxes are selected.
Delete... <Delete>
Deletes the IBS ISA ST-I/T field bus card and all sub-ordinate elements
from the E/A configuration.
Online Reset
Initiates an Online Reset on the InterBus S.
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Address: The card’s DPRAM address can/must be set here. This address
may assume the following values: from 0xC8000 to 0xEF000 in
increments of 0x1000
Port: The card’s port address can/must be set here. This address is
jumpered on the card and may assume the following values:
from 0x100 to 0x3F8 in increments of 0x8
IBS Cycle: The running time of the Interbus is calculated approximately
using the configured equipment and then indicated.
Syncron Mode.: The highest priority task associated with the corresponding
system, assumes control of the field bus cycle and is therefore
synchronised with the field bus. All other tasks are served
asynchronously via corresponding buffers.
Read Config: The current system configuration of the interbus can be
read in. The condition is that a TwinCAT configuration is
started, in which no system has been configured below the
Interbus Master Card! The TwinCAT system is aborted if an
error message is received (0 boxes configured and x boxes
expected). The Read Config button is then released. This
reveals the previously recognised configuration in the tree.
Card index tab „DPRAM See below “Online display of the DPRAM“ on page 61.
(Online)“
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Diagnostic inputs The IBS ISA ST-I/T automatically has access to two input words, which
and/or their bits describe the condition of the card and the interbus:
State: 0x0001 = Application error
0x0002 = Periphery error
0x0004 = Bus error
0x0008 = Hardware error (access component)
0x0010 = Diagnostic routine active
0x0020 = Data transfer active
0x0040 = Selected configuration is ready for operation
0x0080 = Access component is ready for operation
0x0100 = Bus segment is disabled
0x0200 = Block command output
0x0400 = Standard function processed negatively
0x0800 = Synchronisation error appeared
0x1000 = Faulty data cycles
0x2000 = Specified waiting time exceeded
0x4000 = Specified error density exceeded
0x8000 = Signal for control applied
Firmware service Like all SC/I-T firmware services, any TwinCAT program can be retrieved
via ADS. For this purpose, an AMS Port must be referred to the SC/I-T.
This port is activated on the card index tab side "ACyclic". The port number
is specified at 0x7000 + the ID of the SC/I-T.
“ADS“ Card Index Tab
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The result (die Confirmation) of the firmware service is returned to the read
data.
Example: Disabling a user in The user with the logical user number 3.1 is disabled in the current bus
the current bus operation operation:
IndexGroup:
0x00010001
IndexOffset:
0x00000713 (Control_Active_Configuration)
Write data:
Word 0 0x0200 (Device_Off in Motorola Format)
Word 1 0x0100 (An entry in Motorola Format)
Word 2 0x0103 (3.1 in Motorola Format)
CANopen
Hilscher CIFx0-CAN The CIF30-CAN is a CANopen ISA master card.
The CIF50-CAN is a CANopen PCI master card.
The CIF60-CAN is a CANopen PCMCIA master card.
The CIF104-CAN is a CANopen PC104 master card.
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Online Reset
Initiates an online Reset on the CAN bus.
Inputs diagnostics The CIF-30 automatically four input bytes that describe the status of the
card and of the CAN bus:
GlobalFlags:The individual bits have the following meanings:
0x01 = Ctrl: parameterisation error
0x02 = ACtrl: device stopped communication owing
to a guarding to a node
0x04 = NData: at least one node is not communicating
or has a configuration error
0x08 = Fatal: severe bus error occurred
0x10 = Event: communication error detected
0x20 = NRdy: host is not ready
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DeviceNet
Hilscher CIFx0- The CIF30-DNM is a DeviceNet ISA master card.
The CIF50-DNM is a DeviceNet PCI master card.
DNM
The CIF60-DNM is a DeviceNet PCMCIA master card.
The CIF104-DNM is a DeviceNet PC104 master card.
The DPRAM of the CIFx0-DNM is 8 KBytes. No interrupts are used.
The following description relates to the CIF30-DNM. The only visible
difference between this and the TwinCAT is the form factor.
Context menu Add Box... <Add>
Adds DeviceNet boxes.
Currently, the following boxes are supported (more detailed description on
boxes to follow):
1. BK5200 bus coupler
2. BK5210 economy bus coupler
3. LC5100 low cost bus coupler
4. DeviceNet Node
Delete... <Delete>
Removes the CIF30-DNM field bus card and all sub-ordinate elements
from the E/A configuration.
Online Reset
Initiates an Online Reset on the DeviceNet.
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Card index tab “DPRAM See under “Online display of the DPRAM“ on page 61.
(Online)“
SERCOS
Indramat SERCANS SERCANS SCS-P is a SERCOS master card for up to eight axes.
The DPRAM of the SERCANS SCS-P is 4 KByte. One interrupt is used,
SCS-P which triggers the card and is used in the TwinCAT system for
synchronisation.
Context menu Add box... <Add>
Adds a SERCOS axis.
Delete... <Delete>
Deletes the SERCANS SCS-P field bus card and all sub-ordinate elements
from the E/A configuration.
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Card index tab “DPRAM See under “Online display of the DPRAM“ on page 61.
(Online)“
CANopen
Hilscher CIF30-CAN The CIF30-CAN is a CANopen master card.
The DPRAM of the CIF30-CAN has a size of 8 Kbytes. No interrupts are
used.
Context menu Add box... <Ins>
Adds CANopen boxes.
The following boxes are currently supported (see further below for a
detailed description of the boxes):
6. BK5100 bus coupler
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"DPRAM (Online)" tab See "Online display of the DPRAM" on Page 61.
Inputs diagnostics The CIF-30 automatically four input bytes that describe the status of the
card and of the CAN bus:
GlobalFlags:The individual bits have the following meanings:
0x01 = Ctrl: parameterisation error
0x02 = ACtrl: device stopped communication owing
to a guarding to a node
0x04 = NData: at least one node is not communicating
or has a configuration error
0x08 = Fatal: severe bus error occurred
0x10 = Event: communication error detected
0x20 = NRdy: host is not ready
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Printer interface
Eight inputs and outputs each are available with the aid of the "field bus" of
the printer interface.
"LPT Port" tab
Three port addresses are available for selection. These reflect the LPT1,
LPT2 and LPT3 interfaces in standard PCs. Refer to the PC manual or the
current setting in the BIOS for details of which LPT port on your computer
corresponds to which port address.
When you insert the printer interface under I/O devices in the tree view,
eight bit variables each are automatically generated under the inputs and
outputs. In the case of the inputs, you must pay attention to the fact that
the logic of the individual bits differs. Most of the inputs return a logical one
when the respective pin is not connected to earth and a logical zero when
the pin is connected to earth. In the case of inputs marked inv, the logic is
precisely the other way around.
A bi-directional interface is needed for proper operation of the "field bus".
COM interface
The COM interfaces of the PC can be used by. Two modes of operation
are available:
1. Uninterrupted power supply (USV)
2. COM Port operation
The COM Port operation is sub-divided into the following secondary
modes:
a) Connect series bus couplers (BK8xx0)
b) General data interface (simulation of terminal 6xx1)
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Operating mode: USV In the USV mode, an external USV can be connected to the series
interface and controlled by TwinCAT. Currently, the pin assignment is
supported by APC and EFFEKTA.
In contrast to the USV service which exists within Windows NT, the
behaviour of the USV, which is controlled via TwinCAT corresponds to that
required by a machine control. The NT service attempts to supply voltage
for as long as possible and only tries to stop the computer if the battery
voltage falls.
If the USV is controlled via TwinCAT (the NT Service must not be
activated), the computer is run down after a specified waiting time.
Mode: COM – BK8xx0 Series bus couplers can be added below the E/A system, which can be
equipped with any terminals.
Operating mode: COM – The type KL6xx1 terminals facilitate series communication, e.g. from the
KL6xx1 SPS via a field bus – bus coupler and – the terminal to an external series
system (e.g. a barcode reader). The data bytes are exchanged and the
required handshake is controlled by the processing image of the terminal.
This function can be mirrored for the series interfaces in the PC. On the
one hand, a significantly higher data flow rate can be achieved, since the
baud rate can be adjusted upwards and also more data bytes can be
transferred per cycle (maximum five on T6xx1).
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"UPS" tab
Beckhoff CP9030
The CP9030 card serves as a PC side connection to the Beckhoff Panel
Links. This enables remote control panels to be connected to the PC by a
coaxial cable. In addition to transferring the image signal, mouse mat/touch
screen and key entries, the control panels may also have additional special
keys and LEDs, which can be read and/or written via TwinCAT (See
Fehler! Verweisquelle konnte nicht gefunden werden.).
Card index tab “„CP9030“
Card index tab “USV“ See Fehler! Verweisquelle konnte nicht gefunden werden.
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NOTE: So that the data is exchanged between the control panel and CP9030 , at
least one variable must be linked and the lined task must run! Otherwise,
the handshake between PC and CP9030 is not actuated and no data is
exchanged with the control panel
Newer motherboards with Intel chip sets are supported. These are usually
accessible through the PCI-ISA-Bridge PIIX-4. However, other chip sets
can also be used to determined individual values (if they have a LM75 or
compatible chip). The values which can be measured on a special board
must therefore be tested.
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Bus coupler
The Beckhoff bus terminal represents an open field bus-neutral peripheral
concept that consists of electronic modular terminals. The bus coupler with
an interface for the field bus is the header of an electronic modular
terminal.
Context menu Add terminal... <Ins>
Adds a bus terminal under the bus coupler. The dialog shown on Page 13
under "If necessary, inserting sub modules of boxes (e.g. bus terminal"
appears.
Otherwise, see "Field bus boxes " on Page 61
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BK2000 The BK2000 bus coupler is used in the Beckhoff II/O Lightbus field bus.
The characteristics specific to the BK2000 that differ from other bus
couplers are described below.
"BK2000" tab
2 byte PLC interface: when this is selected, one input and one output
variable each for the 2 byte PLC interface are inserted
under the coupler.
Check terminals on start: when this is selected (only possible if the 2
byte PLC interface is active), the configured and
physically existing terminals on the coupler are
compared during the system start up phase. If
discrepancies are detected, the system start up phase
is aborted and a corresponding message is issued.
Generate own K bus update: update of the terminal bus can be
influenced. If this update is not realised by a broadcast
telegram from the C1220 (cf. C1220), a separate K bus
update must take place (default).
After own data: the update takes place directly after transfer of your
own data.
After all data: the update takes place after all data of the current CDL
has been transferred.
In separate CDL: the update takes place in a separate CDL (this requires
corresponding handling in the server).
Input and output diagnostics One input byte and two output bytes are provided for diagnostic and setting
purposes:
State: contents of the first byte of the word 255 from the bus
coupler’s process image (cf. BK2000 manual).
Ctrl0: contents of the first byte of word 255 from the bus
coupler’s process image (cf. BK2000 manual).
Ctrl1: contents of the second byte of word 255 from the bus
coupler’s process image (cf. BK2000 manual).
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BK3000 / BK3100 The BK3000 and BK3100 bus couplers are used in the Profibus. The
specific characteristics that differ from those of other bus couplers are
described below.
"Profibus" tab
"BK3x00" tab
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Inputs diagnostics each Profibus Slave field bus box is assigned two diagnostic input bytes
that signal the status of the respective slave during the run time and which
can be associated with the PLC, for example:
BoxState: 0 = No error
1 = Error
DpState: 0 = No error
1 = Station deactivated
2 = Station not exists
3 = Master lock
4 = Invalid slave response
5 = Parameter fault
6 = Not supported
7 = Config fault
8 = Station not ready
9 = Static diagnosis
BK4000 The BK4000 bus coupler is used in InterBus-S. The specific characteristics
that differ from those of other bus couplers are described below.
"BK4000" tab
Inputs diagnostics Each InterBus-S field bus box is assigned one diagnostic input byte that
signals the status of the respective slave during the run time and which can
be associated with the PLC, for example:
BoxState: 0x01 = Rec: reconfiguration
0x02 = Mod: module error
0x04 = W2Err: error at the W2 interface
0x08 = W1Err: error at the W1 interface
0x10 = W2: inactive state of the W2 interface
0x20 = W1: inactive state of the W1 interface
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BK5100 The BK5100 bus coupler is used in the CANopen bus. The specific
characteristics that differ from those of other bus couplers are described
below.
"BK51x0" tab
Node Id: sets the node Id of the CAN bus station (between 1
and 99). This value must agree with the value set on
the bus coupler.
K bus update: calculates the presumable duration of a complete
update of the terminal bus (this depends on the
connected terminals).
Inputs diagnostics Each CANopen field bus node is assigned one diagnostic input byte that
signals the status of the respective slave during the run time and which can
be associated with the PLC, for example:
BoxState: 1: node does not exist
2: Emergency Buffer Overflow
3: invalid configuration data
BK52x0 The BK52x0 bus coupler is set in the DeviceNet bus. The characteristics
which differentiates this from other bus couplers are described below.
Card index tab “BK52x0“
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Exp. Packet Rate: The Expected Packet Rate states the maximum cycle
time of an I/O connection. If no Change of State
occurs within this time, the I/O message is still sent.
Simultaneously, the Expected Packet Rate
determines the watchdog value with which the slave
monitors the I/O connection.
Connection Type: Specifies the type of I/O connection.
1. Polled: Outputs are written and inputs are read in
cycles.
2. Bit Strobed: A broadcast message requests all
nodes to send their bit strobe message (up to 7
bytes of input or status data).
3. Change of State: Event controlled transmission of
I/O information.
4. Change of State / Cyclic: Even if no event has
occurred, the I/O message is sent after the
Expected Packet Rate has expired.
K-Bus Update: Calculates the expected period for a full update of the
terminal bus (depends upon which terminal is
connected).
Diagnostic inputs: Every DeviceNet field bus node receives a diagnostic input byte which
signals the status of the respective slave for the running time and which
can for example be linked to the SPS:
BoxState: 1 = Node non-existent
2 = Emergency Buffer Overflow
3 = Incorrect configuration
CouplerState: 0 = OK
1 = Error (e.g terminal bus error)
There is also another bit which indicates whether the node is in the data
exchange.
On this side, DeviceNet parameters which are sent to the mode on start-
up, are indicated/administrated. The inputs can be administrated via "new",
"delete" and "process”.
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In order to be able to read and write attributes for running time (e.g. from
the SPS), an ADS port can be allocated to the node (bus coupler). This
enables the attribute for each ADS Read Request and/or Write Request to
be read and written.
The ADS IndexGroup contains ClassId and the ADS IndexOffset contains
InstanceId and AttributeId (InstanceId * 256 + AttributeId).
Variables Four bytes of inputs and outputs each are defined automatically under the
box. These can be addressed or associated either as bytes or as individual
bits.
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M2400 The M2400 is an analogue output box of up to four channels that also has
two digital data bytes. Whether the data bytes function as inputs or outputs
is jumpered in the box (see M2400 manual). The corresponding DACs
must be not associated if the box has less than four analogue channels.
If the box is associated with several tasks (e.g. DACs with NC and data
bytes with PLC), the data telegram is only generated for the higher-priority
task. Particular attention must be paid to this during commissioning when
only the PLC is running, for example.
Variables Four 16-bit output variables with the designations DAC 1 to DAC 4 are
created and can be associated. The two data bytes are arranged under
inputs and/or under outputs according to their affiliations. Their affiliations
are specified in the "Data bytes" tab. The data bytes can be addressed
both byte-by-byte and also bit-by-bit.
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"DACs" tab
D 2...: opens the association dialog for the first data byte (D2
in the telegram).
Input / output: defines whether the data byte is handled as an input
or output (this must correspond to the hardware
setting).
Bytewise / bitwise: defines whether the association dialog is opened for
the complete byte or for individual bits.
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Variables Each channel of the M3120 has four variables, two input variables and two
output variables:
1. Status byte (8-bit input variable), which indicates the status of the
respective channel.
2. Value (24-bit input variable), which returns the current counter status
or the latch value.
3. Control byte (8-bit output variable), which, among other things,
enables switching over between a counted and a latch value.
4. Set value (24-bit output variable) for setting the counted value.
Refer to the manual of the M3120 for a more exact description.
FOX20 The Fox-20 module has 4 plug positions which can take digital or
analogous sub-modules (the first plug position can take only analogous
sub-modules).
All possible variables are shown in the tree. Depending on how the Fox-20
module is configured, the variables must/can be linked. If a plug position is
filled by an analogous sub-module, the word variables Modx_Chny can be
lined either in the input and/or in the output area, whereby x stands for the
plug position and y stands for the channel for relevant plug position.
In the case of digital sub-modules (only one channel possible), the Bit
variables are linked below the Modx_Chn1 variables.
The links help the TwinCAT System Manager to recognise whether it is
producing LWL messages for a digital or an analogous sub-module.
FOX50 The Fox-50 module is a 2-channel SSI producer interface. One status byte
and a 24-bit value are added in the tree, these can be linked manually or
from the NC configuration (encoder type FOX50).
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FOXRK001/002 The Fox-Rk001 and Fox-Rk002 module are coupler modules which couple
the LWL Ring to other LWL Rings (Rk001) or to a profibus (Rk002).
When a module is added, an enquiry is made as to the required number of
input and output words (maximum 254 Rk001 and/or 16 Rk002).
Modular GSD boxes Modular GSD boxes (information from the GSD file) allow you to add or
insert modules:
InterBus-S devices
InterBus-S box InterBus-S boxes that are not known in the TwinCAT System Manager can
be inserted by entering their length and identification codes specific to
InterBus-S. Refer to the manual of the respective device for details of the
length and identification code, which is frequently also marked on the
device itself.
The following dialog appears when you add an InterBus-S box:
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When you select the "List..." button, a list of common InterBus-S boxes of
known length and identification codes appears:
"InterBus-S" tab
Inputs diagnostics Each InterBus-S field bus box is assigned one diagnostic input byte that
signals the status of the respective slave and which can be associated with
the PLC, for example:
BoxState: 0x01 = Rec: reconfiguration
0x02 = Mod: module error
0x04 = W2Err: error at the W2 interface
0x08 = W1Err: error at the W1 interface
0x10 = W2: inactive state of the W2 interface
0x20 = W1: inactive state of the W1 interface
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PCP - Some InterBus-S systems, in addition to the cyclic process data exchange,
can also communicate acyclically with the master card (IBS ISA SC/I-T
Communication only). The communication on the InterBus-S is called PCP-communication
(Peripherals Communication Protocol).
The systems are recognised by their Idend. code and have an additional
card index tab:
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CANopen Devices
CANopen Node CANopen systems which are not recognised in the TwinCAT System
Manager, may also be accepted into the network by selecting the
“CANopen Node“ box. For these systems, the CAN(open) messages can
be configured directly. This guarantees maximum flexibility of this general
CANopen interface.
Since only minimum CANopen conditions can be set on the system to be
connected, general CAN systems can be integrated with very low
expenditure.
A general CANopen system, in accordance with the CANopen
specification, must have access to the object 0x1000 (Device Type, access
type, read only) in the object directory. The content of this parameter is
read out at system start via SDO (Service Data Object) access and
compared to the configured value. Communication with the running time
can be selected through free process data objects (CAN messages) or
through SDO access.
Card index tab “CAN Node“
Node ID: Here, the node address of the general CANopen system is
set. If “Auto adjustment of the PDO COB Ids“ box is
selected, the default identifier of the project data objects is
tracked when the node ID is changed accordingly.
Profile No.: After CANopen, the parameter 0x1000 “Device Type“ in the
two lowest value bytes, receives the number of the system
profile supported by the system. This is entered here and at
system start, compared with the parameters existing in the
system. If now system profile is supported, the parameter
receives a zero value.
Add Info: The additional info is located in the two highest value bytes
of the object list entry 0x1000 (Device Type).
Guard Time: The guard time determines the interval, in which the node is
monitored (node guarding). 0 means no monitoring.
Life Time Factor: Guard Time x Life Time Factor determines the watchdog
length for monitoring the CIF30-CAN through the CANopen
node (Life Guarding). 0 means no monitoring.
Emcy COB Id. And Guard COB Id. are the identifiers for Emergency
Messages and/or Guarding Protocol. These are derived from
the node address.
Automatic PDO... States whether TwinCAT is to download the PDO
communication parameter at system start.
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CANopen PDOs Process data objects (PDOs) and CAN messages, which transport the
process data without protocol overhead. Many producer-specific CAN
protocols can therefore be illustrated on PDOs and integrated into
CANopen networks.
COB Id: The CAN identifier for this PDO. For every two send and
receive PDOs per node, CANopen provides default
identifiers. These can then be changed.
Trans.Type: The transmission type determines the transmission
behaviour of the PDOs. 255 corresponds to the event-
controlled transmission.
Inhibit Time: Transmission delay between two equivalent PDOs,
advisable especially with event-controlled transmissions.
Given in multiples of 0,1 ms.
Length: The length of the PDOs is derived from the mapped
variables and cannot therefore be edited.
From the parameters input here, TwinCAT produces corresponding entries
in the object list of the node, which are transferred through SDO at system
start. The entries can be seen on card index tab SDOs. If this behaviour is
not required, it can be de-activated via the “Auto-Download of the PDO
Parameter“ checkbox on the card index tab CAN Node.
Tree illustration: TwinCAT provides for a general CANopen node, for every second
transmission and receive PDO, which are equipped with default identifiers.
Redundant PDOs can be selected and deleted.
TxPDOs are sent from CANopen nodes and generally have inputs.
RxPDOs are received by the nodes.
The PDOs are filled with variables by clicking the right mouse button on
“inputs“ and/or. “outputs “ and selecting the corresponding variables. If
several variables of the same time are added in one action, the offset
within the PDO is automatically produced. If variables are added
consecutively, the corresponding offset (start address within the CAN
message) is set for each variable.
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Context menu: This menu appears by clicking the general CANopen node with the right
mouse button. Here, other Tx and/or Rx-PDOs can be added.
DeviceNet Devices
DeviceNet Node General DeviceNet systems can be integrated by selecting the DeviceNet
node. The connection parameters can then be stated for these systems.
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SERCOS Axis
SERCOS Axis
Card index tab “Sercos Axis“
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Address: SERCOS axis address which must agree with that set on
the drive amplifier.
Operating mode: Sets the SERCOS mode of the axis. Currently, the speed
operating mode is supported, sent to the drive in the
target speed value and position is controlled in the PC.
The position operating mode is also supported, sent to
the drive at the positions and the position is controlled in
the drive.
NOTE: In the position operating mode, please ensure, that with end axis in the
weighting type for position data (S-0-0076), the module function is switched
on and the resultant module value (S-0-0103) is recognised in the
TwinCAT (see. Fehler! Verweisquelle konnte nicht gefunden werden.).
NOTE: In the speed operating mode, please ensure that the output cable for the
drive in the TwinCAT System is set correctly.
Here, the SERCOS parameters are entered which are exchanged in the
actual value channel of the respective axis. Corresponding variables
below the axis are created in the tree which can be lined accordingly.
An actual position value is required in every case!
Card index tab “Target value As in the actual value channel, variables are also stated here, which are
channel “ exchanged in the target value channel. Depending on the operating mode
of the axis, the speed or the actual target value must exist in the target
value channel.
Card index tab “ADS“
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The NC service channel can be served through the online tab. TwinCAT
must be started and the SERCOS ring must be at least in Phase 2.
On this side, in addition to the imminent diagnostic, a SERCOS reset takes
place on the axis and/or the drive amplifier.
The list below shows all SERCOS parameters with their current values.
This data is read online from the drive (inc. texts and units), which means
that the pages in the list require a certain length of time. When the drive
supports this, the English and German outputs appear alternately.
The parameters are changed by double-clicking on the relevant Id No. No.,
a corresponding dialogue begins.
The list of SERCOS parameters can also be printed and exported (also by
Drag and Drop e.g. in Excel). An appropriate context menu is opened by
clicking the right mouse button.
SERCOS IDs per ADS SERCOS IDs can also be read and written for the running time by ADS
(e.g. from the SPS). An ADS Port must be allocated to the axis via the ADS
tab, which is carried out as standard.
An ADS Read or Write Request can be carried out through this port. The
IndexGroup corresponds to the required SERCOS ID and the IndexOffset
to the element of the SERCOS value:
Port No. Number from the ADS side (card index tab)
Reset per ADS The drive amplifier (e.g. after a drag error) can also be reset via ADS,
whereby the values 3, 0, 3 and 0 again are sent consecutively to the ID S-
O- 0099. (This is carried out by the TwinCAT system manager, if the reset
button is pressed on the online side).
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Bus terminals
Context menu Insert terminal... <ins>
Inserts a further terminal before the currently marked terminal. The
corresponding dialog is opened
Delete terminal... <del>
Deletes the currently marked terminal.
Digital terminals Digital terminals automatically generate bit variables that correspond to the
respective type. These variables are arranged in channels, the number of
which depends on the type of the terminal.
Variables By way of example, the tree view of the digital input terminal KL1002 is
shown on the left with two channels. Two channels have been created,
each of which contains one binary input variable.
“Variables“ tab
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Analogue terminals Analogue terminals automatically generate variables that correspond the
respective type. These variables are arranged in channels, the structure
and number of which depend on the type of terminal.
Variables By way of example, the tree view of the analogue output terminal KL4032
is shown with two channels on the left. Two channels have been created,
which each have two input and two output variables (II/O Lightbus and
Profibus).
For each channel, analogue input and output terminals have one status
byte (8 Bit input), one input word (16 Bit input), one control byte (8-bit
output) and one output data word (16-bit output. The status and control
byte are dropped in the case of the InterBus-S.
The number of variables offered per channel depends on the field bus in
use!
“Channel X” tab
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5.9. NC Channels
As described in Chapter 3.8 “NC configuration”, several channel types are
available for selection.
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„Online“ tab
All channel types offer this tab. When TwinCAT is active, the most
important values of the axes are displayed here. The axes can be moved
manually. At the same time, travel distances are defined by the software
limit switches and speeds of travel by the manual travel parameters of the
respective axis. An axis error can be reset by pressing the F8 key. In the
case of axes with incremental encoders, pressing the F9 key starts
calibration travel.
Interpreter NC channel
Context menu Add group...
Adds a (further) group in the currently marked channel.
Delete...
The currently marked channel (including all subcomponents) is deleted.
Export channel...
The data of the currently marked channel is exported as a file. This file can
be imported into another project in the context menu of the NC task, for
example.
Import group...
The data of a group exported earlier to a file is imported and the
corresponding group is created as a component of the currently marked
channel.
Change ID...
The ID of the currently marked channel is modified. In doing so, the
System Manager checks whether a different channel is already occupying
the selected ID.
„Interpreter“ tab
Here, you can set the interpreter type and the size of the load buffer.
Currently only the NC interpreter DIN 66025 (Siemens dialect) variant is
available as the interpreter type. This interpreter simulates a series of DIN
add-ons (@ codes, subroutine technique).
The size of the load buffer should be set approximately twice as much as
the NC program files including subroutines that are called up. The absolute
upper limit is currently 10,000 Kbytes.
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5.10. NC Groups
IN the case of PTP axes, the groups are not visible because no parameters
or information whatever are needed or are offered. The menus and
displays described here are accessible in the case of DXD groups
(multidimensional groups that are capable of interpolation).
Group Types
Card index tab “Adding an
NC Group “
PTP Groups With PTP axis, the groups are not visible, because no parameters or
information is required or offered respectively. The menus and displays
described here are accessible with DXD groups (interpolation capable,
multi-dimension groups). No interpreter.
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FIFO-Group
Card index tab “FIFO“
FIFO The FIFO group is an n-dimensional axis group, the target position data
(including a Fifo cycle time T_fifo) is produced externally. This data is
transferred into a storage area of variable size (Fifo length) in packets of
variable length per SPS within their cycle (T_sps). In the Fifo generator, the
data is transformed to the Saf cycle time (T_saf) and expanded by dynamic
data (speed, acceleration).
T_fifo > T_saf corresponds to a fine interpolation of Fifo data.
T_saf > T_fifo means that the Fifo is processed generally.
Functions Start
Fill Fifo partially.
Override (instantaneous override).
Enquiry of valid lines in Fifo.
Stop ( = Override 0.0 and end)
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FIFO Parameters
No Data Unit Description
type
1 FIFO Dimensions INT Dimension of FIFO group (number of participating axes). Cannot be
>0 changed when TwinCAT is active.
2 FIFO Length INT No. of lines in the FIFO. Cannot be changed when TwinCAT is active.
>0
3 Interpolation type INT Cannot be changed when TwinCAT is active
4 Override type INT Type 1: instantaneous, Type 2: PT2 (not implemented). Cannot be
changed when TwinCAT is active.
5 FLOAT (not implemented)
6 FIFO Cycle time FLOAT s The cycle time for the FIFO is produced (can deviate from the Saf cycle
>0 time).
The number of Saf entries is equal to the number of existing FIFO entries.
3D-Group
Context menu Add axis...
Inserts a (further) axis in the currently marked group. In doing so, the
devices needed for the operation of the axis (encoder, controller, driver)
are added automatically.
Delete...
The currently marked group (including all subcomponents) is deleted.
Import group...
The data of the group is exported to a file.
Import axis...
The data of an axis exported earlier to a file is imported and the
corresponding axis is created as a component of the currently marked
group.
Change ID...
The ID of the currently marked group is modified. In doing so, the System
Manager checks whether a different channel is already occupying the
chosen ID..
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„DXD“ tab
The parameters listed here are used for path interpolation. They define the
transition from one path segment to the next.
Minimum speed
Vmin The minimum speed Vmin >= 0 defines, with the exception of a requested
halt at segment transitions (exact halt, programmed halt, path end) and
override requests, the minimum under which the path speed must not go
below the minimum speed. [Not implemented.]
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C2 C2 transitions are for the line, circle and Helix segment types, and are
transitions that arise by splitting a whole segment of one type.
Step 1 Assuming Vi is the nominal speed on the segment Si, then the following
applies:
Vk = min(V1,V2).
Thus, we have a guarantee that, in the case V1< V2, the speed V1 is
retained up the transition point and that, in the case of V2< V1, the speed V1
is already reduced in the segment S1 with the result that V2 is reached at
the transition point.
Step 2 If the transition is of the type C2, then there is no further reduction.
If the transition is of the type C1, then further optional reduction is possible
(see below).
If the transition is of the type C0, then further optional reduction is possible
(see below).
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C1 reduction In the case of C1 transitions, an acceleration leap of the amount ∆a. which
is estimated, generally occurs. According to the theory, the speed Vk must
be reduced Vk = 0 at each C1 transition because the acceleration leap
provokes a following error leap. With the C1 factor
Vk <- Vk exp( - C1 ∆a )
is set. If you do not want to reduce at all, then you must set C1 = 0. If you
wish to reduce completely, then you must set C1 to a very high value (e.g.
1010).
C0 reduction In the case of C0 transitions, two reduction methods are offered:
Coulomb: a dynamic method analogous to Coulomb scatter,
Cosine: a purely geometric method.
The deflection angle ϕ at the transition point is the angle between the
tangent of the path at the end of the signal S1 and the tangent of the path
at the start of S2.
C0-Coulomb Analogous to the Coulomb scatter to the speed is assumed to be
proportional to the speed at infinity
Vk ∝ ( tan(0.5(π−ϕ)) )1/2
and is then reduced by means of the C0 factor
Vk <- C0 Vk.
Thus, in any case reduction to Vk takes place in the event of a reversal of
movement (ϕ =180). As the reduction is drastic in the case of small
deflection angles, however, there is an ϕlow ∈ [0,180] as from when
reduction sets in fully. If you do not want to reduce at all, then you must set
ϕlow = 180. If you want to reduce complete (except for ϕ = 0), then you must
set C1 = 0.0 and ϕlow = 0 .
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„Online“ tab
5.11. NC axes
Data types When the data type FLOAT >= 0 is specified, this means that the value
must be non-negative.
When the data type FLOAT > 0 is specified, this means that the value must
be strictly positive.
Inputs Decimal (±xxx.xxxxx) or exponential (±xx.xxxE±xxx or. ±xx.xxxe±xxx) are
possible.
-0 or –0.0 is not valid as a number.
Axis types
Card index tab “Adding an
NC axis “
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Units of an axis
This menu serves to set the units in all following menus.
“Unit” tab“
The millimetre [mm] and second [s] are the basic units and thus the
defaults. At deviance with these, it is possible to select meters [m], ° or
degree as units. In addition, a deviance with the default (or selected) units,
you can additionally select display (and input) of the position in
micrometers and of the speed in millimetres/min. Finally, you can also
output the position in modulo values (which is set in the Encoder “Global”
menu.
The result of the unit selection is displayed for the position, the speed, the
acceleration and jolt.
Below, mm and s are assumed as the units.
Download Set the parameters in the axis menu as follows. Move the mouse to the line
concerned – the line appears in blue. When you press “Enter” or click the
mouse, a small window opens in which you either select from a selection
box or where you can enter a number. When you press “Enter” once again,
the small window disappears and the entered value appears in the line that
is still highlighted in blue. An asterisk additionally appears before the
entered value to indicate that the value has not yet been activated. When
you select „Download“, the value is activated and the line appears in its
normal colour. By selecting „Upload“, you can check which value is
currently active.
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1 Maximum allowed FLOAT mm/s The speed that the axis must never exceed.
speed >0
2 Rapid traversing FLOAT mm/s Speed of feed positioning (G0) in accordance with DIN66025.
speed (G0) >0
3 Manual max speed FLOAT mm/s High speed for manual positioning with the F1 and F4 keys in the
>0 online menu.
4 Manual min speed FLOAT mm/s Low speed of manual positioning with the F2 and F3 keys in the
>0 online menu.
5 Referencing speed FLOAT mm/s Speed of reference travel in the direction towards the referencing
cam (the direction can be set in the Encode “Incremental” menu).
in positive direction >0
6 Referencing speed FLOAT mm/s Speed of referencing travel from the referencing cam in the
direction of the place where the synchronisation pulse is issued
in negative >0
(the direction can be set in the Encode “Incremental” menu).
direction
7 Pulse width in FLOAT mm Relative spatial position for extended axis start “ Puls+” in the
“Functions” menu.
positive direction
8 Pulse width in FLOAT mm Relative spatial position for extended axis start “ Puls–” in the
“Functions” menu.
negative direction
9 Mode: BOOL Deactivation/activation of the min software end stop monitoring
Min end stop
monitoring
10 Min software end FLOAT mm Position of the min software end stop
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stop
11 Mode: BOOL Deactivation/activation of max software end stop monitoring
Max end stop
monitoring
12 Max software end FLOAT mm Position of the max software end stop
stop
13 Mode: position BOOL Deactivation/activation of monitoring of the position following error
with the value specified by the “Maximum position following error”
following error
parameter.
monitoring
14 Maximum position FLOAT mm Maximum permissible position following error
following error >= 0
15 Maximum position FLOAT s If the position following error exceeds the maximum permissible
position following error for longer than the maximum following error
following error filter >=0
filter time, when monitoring is active the axis is instantaneously
time stopped by means of a 0 V output and is set to the logical “error”
state.
16 Mode: position BOOL Deactivation/activation of a bit (e.g. for the PLC) when the axis is
within the position area window around the target.
range monitoring
17 Position are FLOAT mm Size of the half the position area window around the target.
window >=0
18 Mode: target BOOL Deactivation/activation of a bit (e.g. for the PLC) if the axis is within
the target position window around the target by the target position
position monitoring
window around the target by the target position monitoring time.
The bit is reset immediately when the axis position is no longer
within the target window.
19 Target position FLOAT mm Size of half the target position window around the target
window >=0
20 Mode: PEH BOOL Deactivation/activation of a bit (e.g. for the PLC) if (i) setpoint
output for positioning of the axis has logically terminate and (ii) the
timeout
axis has reached its target position (target window monitoring) and
both conditions occur at least once within the timeout (PEH =
Position End Halt).
21 Time out FLOAT s Time out of the PEH condition.
>=0
22 Mode: movement BOOL Not implemented.
monitoring [Deactivation/activation of the bits [for the PLC when the axis
physically moves within the movement monitoring window during
the movement monitoring time.]
23 Movement FLOAT mm Not implemented.
monitoring window >=0
24 Movement time out FLOAT s Not implemented.
>=0
22 Delay time between FLOAT s Time by which the target position in respect of the speed (in
speed and position >=0 position regulator) is delayed. Instead of the position regulator-
speed part
v_p(t) = k_p(p_s(t)-p_i(t))
[k_p Proportionality constant, p_s target position value, p_i
position value] is output in this function at the target position
behind the time τ
p_s(t-τ) in the form
v_p(t) = k_p(p_s(t-τ)-p_i(t))
in order to compensate for an existing system dead time.
25 Mode: loop BOOL Deactivation/activation of the property that ensures that an axis –
which must not be a servo axis – always approximates the target
distance
position from the same direction.
26 Loop distance [+/-] FLOAT mm The distance by which the axis at least approaches the target in
the direction defined by the sine.
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Axis-„Dynamics“ tab
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Dynamic profile The default dynamic profile for servo axes is a 7-phase dynamic profile.
The 7 phases are (optional phases are given in brackets [])
(i) Acceleration phases:
Acceleration buildup
[constant acceleration],
Acceleration drop,
(ii) [Phase of constant speed],
(iii) Deceleration phases:
Deceleration build up,
[Constant deceleration],
Acceleration drop.
If the nominal speed cannot be reached (the distance is too short), without a
message appearing a suitable attainment nominal speed V is calculated and is
activated. Whether the acceleration/deceleration limit(s) (A+,A−) is/are reached
depends on the ratio of the acceleration/deceleration to the nominal speed. The
value of the jolt R at which the acceleration/deceleration is just reached (but is not
retained) is the critical jolt, which is given by the formulas
R+ = (A+)²/V, bzw R− = (A−)²/V
In the units mm and s.
Example of a dynamics
profile
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The menu is broken down into (i) displays, (ii) input boxes and (iii) function
keys.
Online displays (i) Displays
Actual and nominal positions,
following error with minimum and maximum values since the last
reset.
Actual and nominal speeds,
Override in %, total and controller output in %, error code,
Axis status:
Ready, referenced. At standstill (logical), has job, moving higher,
moving lower, coupled, at target position (i.e. within the set target
window for a preset time), in position range (i.e. within the preset
position range).
Enabling signals for controller, feed+, feed-.,
4 Travel speed FLOA mm/s Global nominal speed. If the distance is too short to reach
T this speed, a lower suitable nominal speed is automatically
>0 calculated and activated.
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„Set“ window
This window allows you to set specific enabling signals and values without
the PLC. If a PLC is active, the set values are generally overwritten
periodically and do not take effect.
Functions of an axis
Special axis operation functions.
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Axis„Functions“ tab
The menu is broken down into displays, entry boxes and function keys.
(i) Displays
Actual and nominal positions.
(ii) Entry boxes
Contrary to the values defined in the “Dynamics” menu,
acceleration, deceleration and jolt are selected. There is a large
number of special start types.
Start types
Absolute
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Relative
Modulo
Puls ± (relative positioning with the value set in the “Global” menu)
± 1.0 mm
± 0.1 mm
± 0.01 mm
± 0.001 mm
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Compensation of axes
The menu compensation serves to activate the position compensation.
Distance compensation Start compensation provides each master or slave axis with the ability to
catch up or lag behind by a certain distance (compensation distance)
during constant travel (process speed) over a certain distance
(compensation length), whereby certain increases in the dynamics
parameters are not exceeded. The speed profile of compensation is
trapezoidal, whereby differing tendencies of the ramps are allowed.
3 Max speed FLOA mm/s Maximum allowed increase in the set nominal speed.
increase T>0
4 Process speed FLOA mm/s Basic process speed. This is generally the nominal speed
T of the axis, whereby it is assumed that this nominal speed
>0 has been reached and will also be retained during
compensation.
5 Compensation FLOA mm The distance to be compensated (this may also be
T negative).
difference
6 Compensation FLOA mm The length of the distance over which compensation takes
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Compensation example
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Slave types The slave types are differentiated according to the speed algorithm in the
acceleration phase and also the synchronisation phase of the algorithm.
Weak synchronous Here, the slave synchronous position is the fixed function of the slave
algorithm coupled position and also the master synchronous position and the master
coupled position:
Slave acceleration section = 0.5 master acceleration section [/sin(θ)].
In general: master synchronous position, slave synchronous position
Algorithm:
Weak synchronous algorithm:
Here, the slave synchronous position is the fixed function of the slave
coupled position and also the master synchronous position and the master
coupled position
Master synchronous position and master coupled position:
Slave acceleration section = 0.5 master acceleration section [/sin(θ)].
In general: master synchronous position = slave synchronous position.
Linear Linear in speed, i.e. not limited back, therefore quick in the interrupt. Stop
also linear.
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Jer restricted 3Phase algorithm limited back, complex in the interrupt. Stop in the 3Phase
algorithm with aid phase, if the slave is not force-free.
Heavy synchronous Here, the master synchronous position = slave synchronous position (or
algorithms also the slave couple position or the master couple position) is freely
selectable within certain limits.
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Return The logical direction of the slave is the direction of the master coupling
Return block position -> master synchronisation position. If the master performs an
inverted movement, then (in phases 1 and 2 only) the slave follows by
inverted movement per section control. If however, the return of the master
is to reach to below the master coupling position (the slave is threatens to
run under its coupled position = basic position), if the slave breaks and
remains in the slave coupled position. If the master reverses again and
runs in its original direction via the old coupled position, the slave starts to
run again.
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Stop The Stop must function in all phases (not in the stop phase, not in the
stand phase): in the acceleration phase and in the constance phase and
also during re-run. In the 3Phase algorithm, the actual brake phase is pre-
connected to an additional phase, if the slave is not acceleration-free. In
this additional phase, the slave runs from current acceleration to
acceleration 0.
Uncoupling The slave axis can be uncoupled from the master axis at any time,
however this generally leads to the drag distance not being achieved and
hence abortion.
Start parameter:
No Data Unit Description
type
1 Master axis INT>0 Id of the master axis.
2 Coupling types INT Coupling types: Linear (weakly synchronised, not limited back),
Jerk (weakly synchronised, limited back), quadratic (strongly
synchronised, not limited back).
3 Absolute synchronous FLOAT mm Absolute synchronous position in the co-ordinate system of the
position master axis.
4 Angle of inclination FLOAT> deg θ Complementary inclination to the angle between master and
0, <= 90 slave direction. Parallel means θ = 90.0. Orthodonal θ = 0.0 is not
permitted.
5.12. NC encoder
Context menu Change ID...
The ID of the currently marked encoder is changed. In doing so, the
System Manager checks whether another encoder is occupying the
selected ID.
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Here, the encoder type can be chosen from a constantly growing series of
supported variants. Both absolute and incremental encoders are available.
„Global“ tab
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12 Filter time achieved FLOAT> s Filter time for the PT1 Filter of the achieved acceleration.
acceleration 0
PT1 Filter
Encoder filter
Parameterisation example
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“Incremental” tab
„Online“ tab
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5.13. NC drives
Context menu Change ID…
The ID of the currently marked drive is changed. In doing so, the System
Manager checks whether another drive is occupying the selected ID.
“NC drive” tab
Here, you can select from a constantly growing series of drive type
variants. .
“Global” tab
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„Analogue“ tab
This tab is only offered for drive types with analogue speed output.
Analogue is not to be understood as representation of the speed as a
voltage (e.g.±10V) or a current (e.g. ±20mA), but that the axis allows
practically continuous setting of any values. This is naturally also possible
in the case of drives with digital interfaces, e.g. the BISSI terminals of the
type KL5051. Here, an analogue adjustable speed is transported as digital
information.
Reference speed FLOAT Reference speed of the axis. During pilot control, setpoint
generation of the axis will assume that, when controlled with the
reference output value, the axis will react with this speed.
Reference output FLOAT See above.
Drift compensation FLOAT This value is added to control of the drive. In this way, a constant
offset can be added to the output in order to compensate for the
zero point error of analogue drives, for example.
Bit pattern: cycle 1 ? Output bit pattern for step switching cycle 1. Represented as a
decimal number.
Bit pattern: cycle 2 ? Output bit pattern for step switching cycle 2. Represented as a
decimal number.
Bit pattern: cycle 3 ? Output bit pattern for step switching cycle 3. Represented as a
decimal number.
Bit pattern: cycle 4 ? Output bit pattern for step switching cycle 4. Represented as a
decimal number.
Bit pattern: cycle 5 ? Output bit pattern for step switching cycle 5. Represented as a
decimal number.
Bit pattern: cycle 6 ? Output bit pattern for step switching cycle 6. Represented as a
decimal number.
Bit pattern: cycle 7 ? Output bit pattern for step switching cycle 7. Represented as a
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decimal number.
Bit pattern: cycle 8 ? Output bit pattern for step switching cycle 8. Represented as a
decimal number.
Bit pattern: holding ? Output bit pattern for the idle state. Represented as a decimal
current number
5.14. NC controller
NC-Controller
The NC controller menu serves to select controllers.
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5 Maximum drag filter FLOAT s If the position drag distance exceeds the maximum permissible position
time >=0 drag distance by more than the maximum drag filter time, with active
monitoring, the axis is stopped instantaneously at voltage output 0 V and
Position set in the logical “error” condition.
Position controller
The „PID“ menu contains the special controller parameters.
P controller
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PP controller
“PID” tab for position PP
controller
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PID controller
“PID” tab for position PID
controllers
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3 Operating mode: BOOL De/activation of monitoring the position drag condition with the value
specified by the parameter “maximum position drag distance”.
Position drag distance
monitoring
4 Maximum position drag FLOAT Mm Maximum permissible position drag distance.
distance >= 0
5 Maximum drag filter FLOAT S If the position drag distance exceeds the maximum permissible position
time >=0 drag distance by more than the maximum drag filter time, with active
monitoring, the axis is stopped instantaneously at voltage output 0 V and
Position set in the logical “error” condition.
3 Operating mode: BOOL De/activation of monitoring the position drag condition with the value
specified by the parameter “maximum position drag distance”.
Position drag distance
monitoring
4 Maximum position drag FLOAT Mm Maximum permissible position drag distance.
distance >= 0
5 Maximum drag filter FLOAT S If the position drag distance exceeds the maximum permissible
time >=0 position drag distance by more than the maximum drag filter time,
with active monitoring, the axis is stopped instantaneously at voltage
Position output 0 V and set in the logical “error” condition.
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SERCOS Controller
Card index tab “Global“ for
SERCOS controllers
5 Maximum drag filter FLOAT S If the position drag distance exceeds the maximum permissible
time >=0 position drag distance by more than the maximum drag filter time,
with active monitoring, the axis is stopped instantaneously at voltage
Position output 0 V and set in the logical “error” condition.
5.15. NC input/output
Input/output for NC channels
Standard channels, i.e. for PTP axes, do not require any input/output
connections. These are only needed for interpreter channels.
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6. Glossary
CANopen
Field bus conforming to the CAN in Automation (Cia) specification.
TwinCAT
Total Windows Integrated Control and Automation Technology
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