schneider Altivar Library User Manual

Altivar Library

SoMachine

Function blocks Software manual

V2.08, 04.2011

0198441113880, V2.08, 04.2011

www.schneider-electric.com

Important information Altivar Library

Important information

This manual is part of the product.

Carefully read this manual and observe all instructions.

Keep this manual for future reference.

Hand this manual and all other pertinent product documentation over to all users of the product.

Carefully read and observe all safety instructions and the chapter "Before you begin - safety information".

Some products are not available in all countries. For information on the availability of products, please consult the catalog.

Subject to technical modifications without notice.

All details provided are technical data which do not constitute warranted qualities.

Most of the product designations are registered trademarks of their respective owners, even if this is not explicitly indicated.

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Altivar Library Table of contents

Important information 2

Table of contents 3

About this manual 7

1 Before you begin - safety information 9

1.1 Qualification of personnel 9

1.2 Intended use 9

1.3 Hazard categories 10

1.4 Basic information 11

1.5 Standards and terminology 12

2 Altivar Library Guide 13

2.1 List of the function blocks 14

2.2 Basic inputs and outputs 17

2.2.1 Signal behavior of function blocks with the input Enable 19

2.2.2 Signal behavior of function blocks with the input Execute 21

2.3 Single axis 23

2.3.1 Initialization 23

2.3.1.1 MC_Power_ATV 23

2.3.2 Operating mode Jog 24

2.3.2.1 MC_Jog_ATV 24

2.3.3 Operating mode Speed Control 26

2.3.3.1 VelocityControlAnalogInput_ATV 26

2.3.3.2 VelocityControlSelectAI_ATV 27

2.3.4 Operating mode Profile Velocity 28

2.3.4.1 MC_MoveVelocity_ATV 28

2.3.5 Stopping 29

2.3.5.1 MC_Stop_ATV 29

2.4 Administrative 30

2.4.1 Reading a parameter 30

2.4.1.1 MC_ReadActualVelocity_ATV 30

2.4.1.2 MC_ReadActualTorque_ATV 31

2.4.1.3 MC_ReadStatus_ATV 32

2.4.1.4 MC_ReadParameter_ATV 34

2.4.1.5 GetSupplierVersion 35

2.4.2 Writing a parameter 36

2.4.2.1 MC_WriteParameter_ATV 36

2.4.2.2 SetDriveRamp_ATV 37

2.4.2.3 SetFrequencyRange_ATV 38

2.4.2.4 ResetParameters_ATV 39

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Table of contents Altivar Library

2.4.2.5 StoreParameters_ATV 40

2.4.3 Saving and restoring device configuration 41

2.4.3.1 UploadDriveParameter_ATV 41

2.4.3.2 DownloadDriveParameter_ATV 42

2.4.4 Inputs and outputs 43

2.4.4.1 ReadAnalogInput_ATV 43

2.4.4.2 MC_ReadDigitalInput_ATV 44

2.4.4.3 MC_ReadDigitalOutput_ATV 46

2.4.4.4 MC_WriteDigitalOutput_ATV 48

2.4.5 Error handling 49

2.4.5.1 MC_ReadAxisError_ATV 49

2.4.5.2 MC_Reset_ATV 53

2.5 Device Function 54

2.5.1 Startup 54

2.5.1.1 Altivar_Startup 54

2.5.2 Control 63

2.5.2.1 Altivar31_Control 63

2.5.2.2 Altivar71_Control 72

2.5.2.3 Altivar32_Control 81

3 Glossary 93

3.1 Units and conversion tables 93

3.1.1 Length 93

3.1.2 Mass 93

3.1.3 Force 93

3.1.4 Power 93

3.1.5 Rotation 94

3.1.6 Torque 94

3.1.7 Moment of inertia 94

3.1.8 Temperature 94

3.1.9 Conductor cross section 94

3.2 Terms and Abbreviations 95

4 Index 97

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About this manual

Purpose of this document

Validity note

About this manual

This manual is an extract of the SoMachine Online Help. Fully read and understand all manuals of the SoMachine Online Help and of the products used.

This document describes the functions of the Altivar Library.

Software environment Devices Fieldbus

SoMachine

Device Descriptions of version 4.0.0.0 and higher are supported.

ATV31/ATV312 ATV71/ATV32

CANopen

This document is valid for SoMachine as of Version 2.0.

Source manuals The latest versions of the manuals can be downloaded from the Inter-

net at:

http://www.schneider-electric.com

Corrections and suggestions We always try to further optimize our manuals. We welcome your sug-

gestions and corrections.

Please get in touch with us by e-mail:

techcomm@schneider-electric.com.

Work steps If work steps must be performed consecutively, this sequence of steps

is represented as follows:

■

Special prerequisites for the following work steps

▶

Step 1

◁

Specific response to this work step

▶

Step 2

If a response to a work step is indicated, this allows you to verify that the work step has been performed correctly.

Unless otherwise stated, the individual steps must be performed in the specified sequence.

SI units SI units are the original values. Converted units are shown in brackets

behind the original value; they may be rounded.

Example: Minimum conductor cross section: 1.5 mm2 (AWG 14)

Glossary Explanations of special technical terms and abbreviations.

Index List of keywords with references to the corresponding page numbers.

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Function blocks 7

About this manual

Altivar Library

Disclaimer The information provided in this documentation contains general

descriptions and/or technical characteristics of the performance of the products described here. This documentation is not intended as a substitute for and is not to be used for determining suitability or reliability of these products for specific user applications. It is the duty of any user or integrator to perform the appropriate and fully comprehensive risk analyses, evaluation and testing of the products with respect to the relevant specific application or use of the products. Neither Schneider Electric nor any of its affiliate or subsidiaries shall be responsible or liable for misuse of the information contained herein. If you have any suggestions for improvements or amendments or have found errors in this publication, please notify us.

No part of this document may be reproduced in any form or by any means, electronic or mechanical, including photocopying, without express written permission of Schneider Electric.

All pertinent state, regional, and local safety regulations must be observed when installing and using this product. For reasons of safety and to help ensure compliance with documented system data, only the manufacturer should perform repairs to components.

When devices are used for applications with technical safety requirements, the relevant instructions must be followed.

Failure to use Schneider Electric software or approved software with our hardware products may result in injury, harm, or improper operating results.

Failure to observe this information can result in injury or equipment damage.

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Altivar Library

1 Before you begin - safety information

1.1 Qualification of personnel

Only appropriately trained persons who are familiar with and understand the contents of this manual and all other pertinent product documentation are authorized to work on and with this product. In addition, these persons must have received safety training to recognize and avoid hazards involved. These persons must have sufficient technical training, knowledge and experience and be able to foresee and detect potential hazards that may be caused by using the product, by changing the settings and by the mechanical, electrical and electronic equipment of the entire system in which the product is used.

All persons working on and with the product must be fully familiar with all applicable standards, directives, and accident prevention regulations when performing such work.

1.2

Intended use

This product is a library for industrial use with the appropriate controllers and drives.

The product may only be used in compliance with all applicable safety regulations and directives, the specified requirements and the technical data.

Prior to using the product, you must perform a risk assessment in view of the planned application. Based on the results, the appropriate safety measures must be implemented.

Since the product is used as a component in an entire system, you must ensure the safety of persons by means of the design of this entire system (for example, machine design).

Any use other than the use explicitly permitted is prohibited and can result in hazards.

Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel.

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1 Before you begin - safety information

1.3 Hazard categories

Safety instructions to the user are highlighted by safety alert symbols in the manual. In addition, labels with symbols and/or instructions are attached to the product that alert you to potential hazards.

Depending on the seriousness of the hazard, the safety instructions are divided into 4 hazard categories.

DANGER indicates an imminently hazardous situation, which, if not avoided, will result in death or serious injury.

WARNING indicates a potentially hazardous situation, which, if not avoided, can result in death, serious injury, or equipment damage.

CAUTION indicates a potentially hazardous situation, which, if not avoided, can result in injury or equipment damage.

Altivar Library

DANGER

WARNING

CAUTION

CAUTION used without the safety alert symbol, is used to address practices not related to personal injury (e.g. can result in equipment damage).

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Altivar Library

1.4 Basic information

1 Before you begin - safety information

WARNING

LOSS OF CONTROL

•

The designer of any control scheme must consider the potential failure modes of control paths and, for certain critical functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are emergency stop, overtravel stop, power outage and restart.

•

Separate or redundant control paths must be provided for critical functions.

•

System control paths may include communication links. Consideration must be given to the implication of unanticipated transmission delays or failures of the link.

•

Observe all accident prevention regulations and local safety guidelines.

•

Each implementation of the product must be individually and thoroughly tested for proper operation before being placed into service.

Failure to follow these instructions can result in death or serious injury.

For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), “Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control” and to NEMA ICS 7.1 (latest edition), “Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive Systems”.

WARNING

UNINTENDED BEHAVIOR DUE TO IMPROPER ERROR HANDLING

Improper error handling can change movements or signals or deactivate monitoring functions.

•

Carefully program the error handling routines.

•

Verify the effectiveness of error handling.

Failure to follow these instructions can result in death, serious injury or equipment damage.

WARNING

UNINTENDED BEHAVIOR DUE TO CHANGES TO THE LIBRARY

•

Do not change or manipulate the library in any way whatsoever.

Failure to follow these instructions can result in death, serious injury or equipment damage.

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1 Before you begin - safety information

1.5 Standards and terminology

Technical terms, terminology and the corresponding descriptions in this manual are intended to use the terms or definitions of the pertinent standards.

In the area of drive systems, this includes, but is not limited to, terms such as "safety function", "safe state", "fault", "fault reset", "failure", "error", "error message", "warning", "warning message", etc.

Among others, these standards include:

•

IEC 61800 series: "Adjustable speed electrical power drive systems"

•

IEC 61158 series: "Industrial communication networks - Fieldbus specifications"

•

IEC 61784 series: "Industrial communication networks - Profiles"

•

IEC 61508 series: "Functional safety of electrical/electronic/programmable electronic safety-related systems"

Also see the glossary at the end of this manual.

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Altivar Library

2 Altivar Library Guide

Library name Altivar Library (ATV)

Software environment Devices Fieldbus

SoMachine

Device Descriptions of version 4.0.0.0 and higher are supported.

The function blocks described here are used to control ATV drives in CANopen fieldbuses under the SoMachine software environment. The function blocks are compliant with the IEC 61131-3 standard.

ATV31/ATV312 ATV71/ATV32

2 Altivar Library Guide

CANopen

Naming conventions

Simple application

Categorization of the function

blocks

Preparing the drive Before you can access the drive via CANopen or CANmotion, you

•

Function blocks with the prefix MC_ ("Motion Control") are compliant with the PLCopen specifications. They conform to a global standard for programming motion control applications.

•

Function blocks without a prefix are vendor-specific (Schneider Electric); however, they comply with the general PLC open rules.

•

The function blocks are used in the same way.

•

The function blocks comply with the PLCopen state diagram.

•

The function blocks feature a visualization that can be easily integrated into the application.

•

Single axis: These function blocks are used for movements or functions of a single, independent axis.

•

Administrative: These function blocks are used for configuration tasks (such as reading and writing of parameters, restoring a device configuration, etc.).

•

Device Function: These function blocks support you in commissioning a drive at a controller. Before these function blocks can be used, you must correctly set the communication parameters baud rate and node address.

must make a number of settings. Among others, these settings include:

•

Address and baud rate

•

Profile (CHCF) = Separate

•

Reference 1 (Fr1) = CAN

•

Control channel (Cd1) = CAN

•

Control channel switching (CSS) = Cd1

•

Reference switching (rFC) = C214

Note the pertinent information in the product manual.

If you do not know the existing configuration, it may be useful to restore the factory settings. See "2.4.2.4 ResetParameters_ATV".

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2 Altivar Library Guide

2.1 List of the function blocks

Category Single axis

Altivar Library

Category Subcategory Function block Type ATV31/

ATV312

Single axis

Initialization "2.3.1.1

MC_Power_ATV"

Operating mode Jog

Operating mode Speed Control

Operating mode Profile Velocity

Stopping "2.3.5.1

"2.3.2.1 MC_Jog_ATV"

"2.3.3.1 VelocityControlAnalogInput_ATV"

"2.3.3.2 VelocityControlSelectAI_ATV"

"2.3.4.1 MC_MoveVelocity_ATV"

MC_Stop_ATV"

PLCopen X X X

Vendor-specific X X X

PLCopen X X X

ATV71 ATV32

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Category Administrative

2 Altivar Library Guide

Category Subcategory Function block Type ATV31/

ATV312

Administrative

Reading a parameter

Writing a parameter "2.4.2.1 MC_Write-

Saving and restoring device configuration

Inputs and outputs "2.4.4.1 ReadAna-

Error handling "2.4.5.1 MC_Read-

"2.4.1.1 MC_ReadActualVelocity_ATV"

"2.4.1.2 MC_ReadActualTorque_ATV"

"2.4.1.3 MC_ReadStatus_ATV"

"2.4.1.4 MC_ReadParameter_ATV"

"2.4.1.5 GetSupplierVersion"

Parameter_ATV"

"2.4.2.2 SetDriveRamp_ATV"

"2.4.2.3 SetFrequencyRange_ATV"

"2.4.2.4 ResetParameters_ATV"

"2.4.2.5 StoreParameters_ATV"

"2.4.3.1 UploadDriveParameter_ATV"

"2.4.3.2 DownloadDriveParameter_ATV"

logInput_ATV"

"2.4.4.2 MC_ReadDigitalInput_ATV"

"2.4.4.3 MC_ReadDigitalOutput_ATV"

"2.4.4.4 MC_WriteDigitalOutput_ATV"

AxisError_ATV"

"2.4.5.2 MC_Reset_ATV"

PLCopen X X X

Vendor-specific X X X

PLCopen X X X

Vendor-specific X X X

PLCopen X X X

ATV71 ATV32

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2 Altivar Library Guide

Category Device Function

Altivar Library

Category Subcategory Function block Type ATV31/

ATV312

Device Function

Startup "2.5.1.1 Alti-

var_Startup"

Control "2.5.2.1 Alti-

var31_Control"

"2.5.2.2 Altivar71_Control"

"2.5.2.3 Altivar32_Control"

Vendor-specific X X X

Vendor-specific X - -

Vendor-specific - X -

Vendor-specific - - X

ATV71 ATV32

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Altivar Library

2.2 Basic inputs and outputs

Input/output Data type Description

Axis Axis_Ref_ATV

Input Input_Ref_ATV

Output

Input Data type Description

Enable BOOL

Execute

Output_Ref_ATV

BOOL

Name of the axis (instance) for which the function block is to be executed. The name must be declared in the PLC configuration. The name of the axis can be found to the left in the tree structure of your software.

Input is a special data type for digital and analog inputs. The data type corresponds to the name of the axis (instance) to which the inputs belong (similar to Axis).

In the case of function blocks specifically provided for reading analog and digital inputs, Input replaces the input Axis.

Output is a special data type for digital and outputs. The data type corresponds to the name of the axis (instance) to which the outputs belong (similar to Axis).

In the case of function blocks specifically provided for writing and reading analog and digital inputs, Output replaces the input Axis.

Value range: TRUE, FALSE Initial value: FALSE

The input Enable starts or terminates the execution of a function block. (exception "2.3.1.1 MC_Power_ATV") FALSE: Execution of the function block is terminated. The outputs Valid, Busy, CommandAborted and Error are set to FALSE.

TRUE: The function block is executed repeatedly.

Value range: TRUE, FALSE Initial value: FALSE

The input Execute starts the execution of a function block in the case of a rising edge (FALSE->TRUE).

If a second rising edge is detected during the execution of the function block, the current execution is aborted and the function block is executed again.

Execution is terminated as soon as the output Busy is FALSE.

FALSE and, at the same time, Busy = FALSE: Either Done, Error or CommandAborted are set to TRUE for one call.

TRUE and, at the same time, Busy = FALSE: Either Done, Error or CommandAborted are set to TRUE and remain TRUE until Execute is set to FALSE.

2 Altivar Library Guide

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2 Altivar Library Guide

Output Data type Description

Done BOOL

Valid

Busy

CommandAborted

Error

BOOL

Value range: TRUE, FALSE Initial value: FALSE

FALSE: Execution has not (yet) been terminated without an error.

TRUE: Execution has been completed without an error.

Value range: TRUE, FALSE Initial value: FALSE

FALSE: Execution has not (yet) been terminated without an error. The values at the outputs are not (yet) valid.

TRUE: Execution has been completed without an error. The values at the outputs are valid and can be further processed.

Value range: TRUE, FALSE Initial value: FALSE

FALSE: Execution of the function block has been terminated.

TRUE: Function block is being executed.

NOTE: In the operating mode Profile Velocity, the output remains TRUE even when the target velocity has been reached or Execute becomes FALSE. The output Busy is set to FALSE as soon as another function block such as MC_Stop is executed.

Value range: TRUE, FALSE Initial value: FALSE

FALSE: Execution has not (yet) been canceled without an error.

TRUE: Execution has been aborted by another function block.

Value range: TRUE, FALSE Initial value: FALSE

FALSE: Execution of the function block is running, nor error has occurred up until now.

TRUE: An error has occurred in the execution of the function block.

Altivar Library

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2 Altivar Library Guide

2.2.1 Signal behavior of function blocks with the input Enable

Example 1 Single execution without error (execution requires more than one call).

Enable

Error

Valid

Busy

Example 2 Single execution with error (execution requires more than one call).

Enable

Error

Valid

Busy

Example 3 Single execution without error (execution requires only one call).

Enable

Error

Valid

Busy

Example 4 Single execution with error (execution requires only one call).

Enable

Error

Valid

Busy

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2 Altivar Library Guide

Example 5 Repeated execution without error (execution requires more than one

Example 6 Repeated execution with error (execution requires more than one

Altivar Library

call).

Enable

Error

Valid

Busy

call).

Enable

Error

Valid

Busy

Example 7 Repeated execution without error (execution requires only one call).

Enable

Error

Valid

Busy

Example 8 Repeated execution with error (execution requires only one call).

Enable

Error

Valid

Busy

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2 Altivar Library Guide

2.2.2 Signal behavior of function blocks with the input Execute

Example 1 Execution terminated without error.

Execute

Error

Done

CommandAborted

Busy

Example 2 Execution terminated with error.

Execute

Error

Done

CommandAborted

Busy

Example 3 Abortion of the execution because another function block takes over

control.

Execute

Error

Done

CommandAborted

Busy

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2 Altivar Library Guide

Example 4 Execution completed without error after Execute has been set to

Altivar Library

FALSE during execution.

Execute

Error

Done

CommandAborted

Busy

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MC_Power_ATV

Axis Axis_Ref_ATV Enable BOOL

BOOL Status

BOOL Error

Altivar Library

2.3 Single axis

2.3.1 Initialization

2.3.1.1 MC_Power_ATV

Function description The function block enables or disables the power stage. TRUE at the

Graphical representation

2 Altivar Library Guide

The initialization function block enables or disables the power stage. Other function blocks can only be used when the power stage is enabled.

input Enable enables the power stage. Once the power stage is enabled, the output Status is set. FALSE at the input Enable disables the power stage. Once the power stage is disabled, the output Sta- tus is reset. If errors occur during execution, the output Error is set.

Compatible devices ATV31/ATV312 and ATV71/ATV32

Inputs/outputs The table below shows the outputs.

Output Data type Description

Status BOOL

"2.2 Basic inputs and outputs"

Notes In the case of a Node Guarding error, the error memory must be reset

by means of the function block "2.4.5.2 MC_Reset_ATV" before the power stage can be enabled again.

•

An asynchronous motor has no torque when it is at a standstill. Enabling the power stage does not automatically generate torque.

•

If the input Enable = TRUE, one of the following errors is signaled if the power supply is lost.

3120h (undervoltage)

ATV71/ATV32: FF34h (PowerOnTimeout_ATV)

If the 24V power supply is lost: 8100hh (NodeguardError_ATV)

The output Status is set to FALSE and the output Error to TRUE. Once the power supply is available again, the output Status is set back to TRUE.

Value range: FALSE, TRUE Initial value: FALSE

FALSE: Power stage is disabled.

TRUE: Power stage is enabled.

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MC_Jog_ATV

Axis Axis_Ref_ATV Forward BOOL Backward BOOL Velocity INT

BOOL Done

BOOL Busy

BOOL CommandAborted

BOOL Error

2 Altivar Library Guide

2.3.2 Operating mode Jog

2.3.2.1 MC_Jog_ATV

Function description The function block starts the operating mode Jog. TRUE at the input

Graphical representation

Altivar Library

In the operating mode Jog, a movement is made from the actual motor position in the desired direction. The velocity can be set. As long as the signal for the direction is available, a continuous movement is made in the desired direction.

If movements in positive and negative directions are requested at the same time, there is no motor movement.

Forward or the input Backward starts the jog movement. If both the inputs Forward and Backward are FALSE, the operating mode is terminated and the output Done is set. If both the inputs Forward and Backward are TRUE, the operating mode remains active, the jog movement is stopped and the output Busy remains set.

Compatible devices ATV31/ATV312 and ATV71/ATV32

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Altivar Library

Inputs/outputs The table below shows the inputs.

Input Data type Description

Forward BOOL

Backward

Velocity

BOOL

INT

Value range: FALSE, TRUE Initial value: FALSE

Forward = FALSE and Backward = FALSE: Movement is terminated.

Forward = TRUE and Backward = FALSE: Movement in positive direction is started if Velocity >0. Movement in negative direction is started if Velocity <0.

Forward = FALSE and Backward = TRUE: Movement in negative direction is started if Velocity >0. The movement is stopped if Velocity <0.

Forward = TRUE and Backward = TRUE: The movement in the current direction continues. If the inputs Forward or Backward are set to FALSE, the movement is continued in the direction and at the velocity valid at that point in time.

Value range: FALSE, TRUE Initial value: FALSE

Forward = FALSE and Backward = FALSE: Movement is terminated.

Forward = TRUE and Backward = FALSE: Movement in positive direction is started if Velocity >0. Movement in negative direction is started if Velocity <0.

Forward = FALSE and Backward = TRUE: Movement in negative direction is started if Velocity >0. The movement is stopped if Velocity <0.

Value range: -5000 ... +5000 Initial value: 0

Target velocity for the operating mode. Adjustable in increments of 0.1 Hz.

NOTE: The values for LowFrequency and HighFrequency are set in the function block SetFrequencyRange_ATV. If the value for the target velocity velocity is less than the value for LowFrequency, the movement is made with the velocity value for LowFrequency. No error is signaled. If the value for the target velocity velocity is greater than the value for HighFrequency, the movement is made with the velocity value for HighFrequency. No error is signaled.

2 Altivar Library Guide

"2.2 Basic inputs and outputs"

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Function blocks 25

VelocityControlAnalogInput_ATV

Axis Axis_Ref_ATV Execute BOOL NegativeDir BOOL

BOOL InVelocity

BOOL Busy

BOOL CommandAborted

BOOL Error

2 Altivar Library Guide

2.3.3 Operating mode Speed Control

In the operating mode Speed Control, you can set a reference velocity via an analog input.

2.3.3.1 VelocityControlAnalogInput_ATV

Function description The function block uses the reference values supplied by the analog

input selected with the function block "2.3.3.2 VelocityControlSelectAI_ATV".

Graphical representation

Compatible devices ATV31/ATV312 and ATV71/ATV32

Inputs/outputs The table below shows the inputs.

Altivar Library

Input Data type Description

NegativeDir BOOL

Value range: FALSE, TRUE Initial value: FALSE

FALSE: Clockwise rotation.

TRUE: Counter-clockwise rotation.

The table below shows the outputs.

Output Data type Description

InVelocity BOOL

Value range: FALSE, TRUE Initial value: FALSE

FALSE: The velocity does not correspond to the reference value.

FALSE: The velocity corresponds to the reference value.

"2.2 Basic inputs and outputs"

Notes See also "2.4.2.3 SetFrequencyRange_ATV" and

"2.3.3.2 VelocityControlSelectAI_ATV".

If voltage levels -10V ... 10V are used, the direction of movement (rotation) is inversed when the sign changes. If the voltage is 0 V, this may result in jumps in the direction of movement, in the minimum frequency and in jumps at standstill.

NOTE for ATV31: If you have selected the analog current input (0 mA ... 20 mA), the following frequency levels are used:

•

The minimum frequency is used below 4 mA.

•

The medium frequency is used at 12 mA.

•

The maximum frequency is used at 20 mA.

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VelocityControlSelectAI_ATV

Axis Axis_Ref_ATV Execute BOOL InputNumber INT

BOOL Done

BOOL Busy BOOL Error

Altivar Library

2.3.3.2 VelocityControlSelectAI_ATV

Function description This function block is used to select the analog input for supplying the

reference value. See also "2.3.3.1 VelocityControlAnalogInput_ATV".

Graphical representation

Compatible devices ATV31/ATV312 and ATV71/ATV32

Inputs/outputs The table below shows the inputs.

Input Data type Description

InputNumber INT

Value range: 1 ... 16 Initial value: 1

1: AI1 2: AI2 3: AI3 (ATV71 only with expansion card) 4: AI4 (ATV71 only and only with expansion card) 16: AIP (internal potentiometer, ATV31/312 only)

2 Altivar Library Guide

"2.2 Basic inputs and outputs"

Notes The function block can only be executed if the drive is in the operating

state 3 Switch On Disabled (operating state of drive). To transition to this state, disable the power stage with the function block "2.3.1.1 MC_Power_ATV".

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Function blocks 27

MC_MoveVelocity_ATV

Axis Axis_Ref_ATV Execute BOOL Velocity INT

BOOL InVelocity

BOOL Busy

BOOL CommandAborted

BOOL Error

2 Altivar Library Guide

2.3.4 Operating mode Profile Velocity

You can set a target velocity in the operating mode Profile Velocity. The movement is performed with this target velocity in the operating mode Profile Velocity. The movement continues until a new target velocity is set or until the operating mode is aborted.

Transitions between two target velocities are performed on the basis of a motion profile. The motion profile is determined by the profile generator in the drive on the basis of the actual velocity, the target velocity and the acceleration and deceleration ramps.

2.3.4.1 MC_MoveVelocity_ATV

Function description The function block starts the operating mode Profile Velocity with the

velocity Velocity. When the target velocity is reached, InVelocity is set.

Graphical representation

Altivar Library

Compatible devices ATV31/ATV312 and ATV71/ATV32

Inputs/outputs The table below shows the inputs.

Input Data type Description

Velocity INT

Value range: -5000 ... +5000 Initial value: 0

Target velocity in [0.1Hz]

The table below shows the outputs.

Output Data type Description

InVelocity BOOL

Value range: FALSE, TRUE Initial value: FALSE

FALSE: Target velocity not yet reached.

TRUE: Target velocity reached.

"2.2 Basic inputs and outputs"

Notes In the operating mode Profile Velocity, a position overtravel does not

trigger an error. A position overtravel results in a loss of the zero point.

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MC_Stop_ATV

Axis Axis_Ref_ATV Execute BOOL

BOOL Done

BOOL Busy BOOL Error

Altivar Library

2.3.5 Stopping

2.3.5.1 MC_Stop_ATV

Function description The function block is used to stop the current movement. The operat-

Graphical representation

Compatible devices ATV31/ATV312 and ATV71/ATV32

Inputs/outputs "2.2 Basic inputs and outputs"

2 Altivar Library Guide

Each operating mode can be canceled by stopping. Stopping the operating mode does not generate an error.

ing mode is stopped by the function block.

Notes

The type of deceleration (deceleration ramp, coasting down without braking) is set via the parameter Stt. Note the pertinent information in the product manual.

•

The deceleration ramp is set with the function block "2.4.2.2 SetDriveRamp_ATV".

•

The function block can only be interrupted by disabling the power stage via the function block "2.3.1.1 MC_Power_ATV".

•

As long as the input Execute is TRUE, no other function block with the exception of "2.3.1.1 MC_Power_ATV" can be started.

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Function blocks 29

MC_ReadActualVelocity_ATV

Axis Axis_Ref_ATV Enable BOOL

BOOL Valid BOOL Busy BOOL Error

INT Velocity

2 Altivar Library Guide

2.4 Administrative

2.4.1 Reading a parameter

The following functions blocks allow you to read drive parameters such as the actual position or the actual velocity.

An additional function block provides read access to individual parameters of the device. See the product manual for a description of the parameters.

2.4.1.1 MC_ReadActualVelocity_ATV

Function description The function block is used to read the actual velocity of the motor.

Graphical representation

Altivar Library

Compatible devices ATV31/ATV312 and ATV71/ATV32

Inputs/outputs The table below shows the outputs.

Output Data type Description

Velocity INT

Value range: -5000 ... +5000 Initial value:

Actual velocity in min

"2.2 Basic inputs and outputs"

Notes The function block uses Service Data Objects (SDO) to read the

parameter from the device. Therefore, it is strongly recommended not to permanently set the input Enable to TRUE. This may cause overload on the fieldbus. It is recommended to deactivate the function block when the output Busy is set to FALSE.

The value is specified in min-1. Example: At a frequency of 3 Hz and 2 pairs of poles, this results in a velocity of 90 min-1. (3 Hz * 60 s / 2 pairs of poles = 90 min-1). Note that the reference value for the velocity ("2.3.4.1 MC_MoveVelocity_ATV") is specified in increments of 0.1 Hz (3 Hz -> Velocity = 30).

-1

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