说明工控软件finalv

1、Modicon LMC078 / Lexium 32 Sercos Fieldtest-Training1. Overview LMC078/LXM32S2. LMC078 firmware update3. RT Sercos Bus4. Axis configuration5. Sercos IDN drive parameter6. External encoder7. Embedded IOs8. TouchProbes9. Task settings10. TM5 configuration11. System libraries12. G-code file handlingCon

2、tent13. Message logger14. Project converting15. LXM32S commissioning16. Field test supportSchneider Electric3- Machine Solutions LMC078 fieldtest training May 2014 1 - Overview LMC078 / LXM32SModicon LMC078Motion Controller Based on SoMachine / SoftmotionLexium 32 Sercos Servo Drive Integrating a Se

3、rcos moduleSchneider Electric4- Machine Solutions LMC078 fieldtest training May 2014 1 - Overview LMC078 / LXM32SMotion Controller OfferServo Drive OfferLMC078CECS20T Name Logic Motion ControllerRange078Type CCompactEEthernetCCANopenSSercosIO Number 20 IO Type : TSource9 References for the LEXIUM LX

4、M32S.LXM32SD12N4 LXM32SD18M2LXM32SD18N4 LXM32SD30M2LXM32SD30N4 LXM32SD72N4LXM32SU45M2 LXM32SU60N4LXM32SU90M2The Sercos module is included.Name : LXM LEXIUMRange: 32Range : 32Type : SSercosPROFIBUS_DP slave VW3 E70400000EtherNet/IP Slave VW3 E70410000SD card Virgin TMASD2 size : =512MbSIM card VW3M87

5、05 Encoder interface VW3M340 x (x=1 / 2 / 3) Safety card VW3M3501 SercosIII module VW3M3619 9Schneider Electric5- Machine Solutions LMC078 fieldtest training May 2014 1 - Hardware OverviewITEMFunctionCN1LCD display CN2Mini USB Programming tool connectionCN3LED status of the Motion ControllerCN4SD Ca

6、rd ( Firmware and Project )CN5USB A Host / Memory extensionCN6RJ45 Ethernet connection CN7SercosIII Connection (Daisy chain - Can be used for a ring topology or linear topology)CN812 Digital Input points ( 8 Standard input / 4 Fast inputs )CN98 Digital output points CN10RJ45 Serial connection RS232/

7、RS485CN11Optional module slot ( Can be used for the optional module : EtherNet/IP (only Adapter/slave ) or Profibus DP (slave)CN12SubD 9 CANopen CN13RJ45 Master encoder ( Inc or Absolute encoder )CN14Not usedCN15Power supply ( + 24Vdc / 0Vdc )Schneider Electric6- Machine Solutions LMC078 fieldtest t

8、raining May 2014 2 LMC078 firmware update.by Controller assistant 1Schneider Electric7- Machine Solutions LMC078 fieldtest training May 2014 2 LMC078 firmware update.by Controller assistant 2To SD-card or via USB-/TCPIP connectionSchneider Electric8- Machine Solutions LMC078 fieldtest training May 2

9、014 2 Connecting to the controllerUSB-miniEthernet TCP/IP Ethernet TCP IP Standard IP-settings with Controller Assistant Ethernet setting just for selectingDHCP/BOOTIPSchneider Electric9- Machine Solutions LMC078 fieldtest training May 2014 3 RT Sercos Bus. Sercos III as Real-Time motion bus. Sercos

10、 III is a RT bus based on Ethernet Standard The LMC078 is equipped by 2 sercos Port RJ45 ( Daisy chain). Topology : The sercos bus can be wired in Ring or Line (Max 100m between each device)Schneider Electric10- Machine Solutions LMC078 fieldtest training May 2014 3 RT Sercos Bus. Sercos communicati

11、on states & diagnostic Sercos-phase access by SERCOSIII.PhaseSet“ and SERCOSIII.State“ Phase 0:Connection testPhase 1: Find the drive addresses Phase 2: Drives system configuration Phase 3:Cyclic data lists configuration, drives configurationPhase 4: Cyclic communication working: working phaseSc

12、hneider Electric11- Machine Solutions LMC078 fieldtest training May 2014 3 RT Sercos Bus. Sercos Communication states & monitoring bCommunication-flag in AXIS_REF and SMC3_ReInitDrive not yet implemented. Example instead of:Schneider Electric12- Machine Solutions LMC078 fieldtest training May 20

13、14 4 Axis configuration Set SercosIII address (1.255) in LXM32S SoMove . or HMI (Conf - CoN- - Addr)Schneider Electric13- Machine Solutions LMC078 fieldtest training May 2014 4 Axis configuration Adding of Sercos-slaves (LXM32S + TM5) manually . Schneider Electric14- Machine Solutions LMC078 fieldte

14、st training May 2014 4 Axis configuration . or automatically by SCAN 1. Scan for controller and activate it(do NOT login !): Start Sercos-Scan in Device Addressing“: Schneider Electric15- Machine Solutions LMC078 fieldtest training May 2014 4 Axis configuration after scan If configuration has change

15、d andscan is started again, new devicesneeds to be selected and added:Schneider Electric16- Machine Solutions LMC078 fieldtest training May 2014 4 Axis configurationReal/Optional/Virtual/Deactivated drives Sercos master switches only to phase 4, if the slave-configuration fits to real setup:- Real:

16、Slave has to be connected- Optional: Slave can be connected- Deactivated: Device can not be used- Virtual: .? No hotplug ! Virtual mode“ for the Softmotion-axis: Check working state after Sercos bootup:Schneider Electric17- Machine Solutions LMC078 fieldtest training May 2014 4 Axis configurationEna

17、ble the setting to configure the cyclicdataAdding IDNs The Sercos cyclic data exchange can be extended by max. 8 objectsSchneider Electric18- Machine Solutions LMC078 fieldtest training May 2014 4 Axis configurationConfigure the variable mapping in “I/O mappingSchneider Electric19- Machine Solutions

18、 LMC078 fieldtest training May 2014 5 SercosIDN - Drive parameter Standard SERCOS IDNs (S) following EN61491 IDNs 0.32767 reserved for standard objects, Example: S-0-0047 Position Command Value S-0-0051 Position Feedback Value 1 (motor feedback) Proprietary SERCOS IDNs (P) IDNs proprietary reserved

19、for manufacturer specific objects Example: P-0-3008.0.15 Status of digital inputSchneider Electric20- Machine Solutions LMC078 fieldtest training May 2014 5 SercosIDN - Drive parameter Proprietary SERCOS IDNs (P) The calculation of the IDN parameter number can be done refering to its CANopen-address

20、:BASE ADDRESS + internal parameter ernal parameter sub-index Base address = 3000 dec. Example : CANopen indexSub indexIDN (dec)Error DC BUS CANopen 303C:7h3000 + 16#3C16#73060.0.7_Esm _stateCANopen 304C:16h3000 + 16#4C16#163076.0.22Schneider Electric21- Machine Solutions LMC078 fieldtest

21、training May 2014 5 SercosIDN - Drive parameter Access by application By FB_SercosReadServiceDataAsync and FB_SercosWriteServiceDataAsync Schneider Electric22- Machine Solutions LMC078 fieldtest training May 2014 5 SercosIDN - Drive parameter Download list The parameter download list as known at LMC

22、058 doesnt exist for LMC078 KFPp is NOT set automatically to 100% as on CANmotion ? Download sequence needs to be programmed in applicationSchneider Electric23- Machine Solutions LMC078 fieldtest training May 2014 6 External EncoderSINCOS encoder ( Hiperface)Power supply 10V / 200mAAnalog Input freq

23、uency 200kHzCable length 50m Schneider Ref :VW3E6031 SRM VW3E6030 SRSOnly Sick Stegmann are supported and tested: SHS17 - SKS/SKM36 - SRS/SRM50 SCS/SCM60 SRS/SRM64INC encoderPower supply only 5V / 300mA ,no 24 V !Input RS422 standardInput frequency 1 MHzCable length 50m Schneider Electric24- Machine

24、 Solutions LMC078 fieldtest training May 2014 6 External EncoderIncremental encoder only resolution configurableSchneider Electric25- Machine Solutions LMC078 fieldtest training May 2014 6 External Encodersincos encoder no resolution to configure only user unitsNo usenecessarySchneider Electric26- M

25、achine Solutions LMC078 fieldtest training May 2014 sincos encoder additional diag-infos6 External EncoderSchneider Electric27- Machine Solutions LMC078 fieldtest training May 2014 7 Embedded IOs Embedded IO. Embedded IO (Immediately refreshed) 8 Digital Outputs 8 Digital Inputs 4 Capture inputsresp

26、onse time 15 ! Check systemload in Controller-Config-Diagnosis-CycleLoadSchneider Electric33- Machine Solutions LMC078 fieldtest training May 2014 10 Remote IOs Sercos III CANopen Schneider Electric34- Machine Solutions LMC078 fieldtest training May 2014 10 TM5 configuration HW- and SoMachine settin

27、gs (manually or automatically by scan) Schneider Electric35- Machine Solutions LMC078 fieldtest training May 2014 10 TM5 configuration Adding TM5 modules Assign the I/Os to variable in the mapping editor Option Always update variables“ can be activated, but CPU needs more performance !Schneider Elec

28、tric36- Machine Solutions LMC078 fieldtest training May 2014 10 TM5 configuration Adding TM5 modules For output modules, the variable OutputsActiveSet“ needs to be set to TRUE in application codeSchneider Electric37- Machine Solutions LMC078 fieldtest training May 2014 11 - System Libraries The Syst

29、em Libraries are different ( PLC_R, PLC_W ) will be replace by dedicated FB or variables.LMC078:LMC058:Schneider Electric38- Machine Solutions LMC078 fieldtest training May 2014 12 Gcode FileHandling File acces with CAAfile - library and SMC_ReadNcFile Access to SD-card: ide0:/NC_Test.txt Access to

30、USB: .? Access to a FTP-Server: .?Schneider Electric39- Machine Solutions LMC078 fieldtest training May 2014 13 Message Logger In SoMachine Logger records the most important events on the controller. Also drive errors are recorded User messages entered by application ?Schneider Electric40- Machine S

31、olutions LMC078 fieldtest training May 2014 13 Message Logger The data are downloaded By diagnostic toolSchneider Electric41- Machine Solutions LMC078 fieldtest training May 2014 13 Message Logger Shows HW/SW version, controller info, message logger etc.Schneider Electric42- Machine Solutions LMC078

32、 fieldtest training May 2014 14 Project convertingRecommendations for converting projects from LMC058-LMC078 Generate new LMC078 configuration (including axis-, task, IO-config) Copy application code, gvl, visus etc. by using EXPORT/IMPORT Modify the application code (LMC078 specific parts)Not finished yet !Schneider Electric43- Machine Solutions LMC078 fieldtest training May 2014 15 LXM32S Commissioning Drive firmware update by LexiumFlashtool (use newest version ) SercosIII module firmware flashtool in validation Commissioning by SoMove Similar to CANmotion (p/v