Schneider ATV71H075N4 User Manual

Modicon M340, CANopen, Altivar,

Lexium, TeSysU and Preventa

System User Guide

[source code]

33004041.00

JAN 2007

Contents

Application Source Code.......................................................................................................................4

Typical Applications ................................................................................................................................5

System.........................................................................................................................................................6

Architecture .........................................................................................................................................6

Installation............................................................................................................................................9

Hardware ..............................................................................................................................................11

Software...............................................................................................................................................25

Communication ....................................................................................................................................26

Implementation .................................................................................................................................38

Communication ....................................................................................................................................39

PLC.......................................................................................................................................................47

HMI .......................................................................................................................................................83

Devices............................................................................................................................................... 100

Safety controller ............................................................................................................................101

Lexium 15 LP .................................................................................................................................117

Lexium 05 ......................................................................................................................................131

Altivar 71........................................................................................................................................ 137

TeSysU ..........................................................................................................................................142

Performance.......................................................................................................................................144

Appendix................................................................................................................................................145

Detailed Component List.............................................................................................................145

Component Protection Classes.................................................................................................147

Component Features................................ ....................................................................................148

Contact................................................................ ................................................................ ...................153

Introduction This document is i ntended to provide a quick i nt roduction to the described System.

It is not intended to replace any specific product documentation. On the contrary, it offers
additional information to the product documentation, for installing, configuring and starting up
the system.

A detailed functional description or the specification for a specific user application is not pa rt of
this document. Neverth eless, the document outlines some typical applications where the
system might be implemented.

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1

Abbreviations

Word / Expression Signification

AC Alternating Current
Advantys SE product name for a family of I/O modules
Altivar (ATV) SE product name for a family of VSDs
CANopen Name for a communications machine bus system
CB Circuit Breaker
CoDeSys Hardware-independent IEC 61131-3 programming software
ConneXium SE product name for a F amily of Transparent Factory devices
DC Direct Current
EDS Electronic Data Sheet
E-OFF, E-STOP Emergency Off switch
Harmony SE product name for a family of switches and indicators
HMI Human Machine Interface
I/O Input/Output
IclA (ICLA) SE product name for a compact drive
Lexium/Lexium05/LXM SE product name for a family of servo-drives
M340 / Modicon M340 SE product name for a mid range PLC family
Magelis SE product name for a family of HMI-Devices
MFB PLCopen Motion Function Block
MB - SL SE name for a serial Modbus communications protocol
Micro SE product name for a middle range family of PLCs
NIM SE product name for a Network Interface Module
Osiswitch SE product name for a family of position switches
PC Personal Computer
PDO Process Data Object (CANopen)
Phaseo SE product name for a family of power supplies
PLC Programmable Logic Computer
PowerSuite An SE software product for configuring drives
Premium SE product name for a middle range family of PLCs
Preventa SE product name for a family of safety devices
PS1131 (CoDeSys) SE Product name for PLC programming software with CoDeSys
PS Power Supply
RPDO Receive Process Data Object (CANopen)
SE Schneider Electric
SDO Service Data Object
SyCon SE product name of a Field bus programming software

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Word / Expression Signification

Telefast SE product name for a series of distributed I/O devices
TesysU SE product name for a decentralized I/O System
TPDO Transmit Process Dat a Object (CANopen)
Twido SE product name of a basic range family of PLCs
TwidoSoft SE product name for a PLC programming software
TwidoSuite SE product name for a PLC programming software
Unity (Pro) SE product name for a PLC programming software
Vijeo Desi gner An SE software product for programming Magelis HMI devices
VSD Variable Spe ed Drive
WxHxD Dimensions : Width, Height and Depth
XBT-L1000 An SE software product for programming Magelis HMI devices
Zelio SE product name for a l ow range PLC family
ZelioSoft SE product name for a PLC programming software

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Application Source Code

Introduction Examples of the source code and wiring diagrams used to attain the system function as

described in this document can be downloaded from our website under this link.
The example s ource code is in the form of configuration, application and import files. Use the

appropriate software tool to either open or import the files.

Extension File Type Software Tool Required

AIW Configuration file Advantys
CNF Configuration File SyCon
CO CANopen definitions file SyCon
CSV Comma Separated Values, Spreadsheet Twidosoft
CTX Unity
DCF Device Configuration File Advantys
DIB Device Independent Bitmap SyCon
DOC Document file Microsoft Word
DOP Project File Magelis XBTL 1000
EDS Electronic Data Sheet – Device Definition Industrial standard
FEF Export file PL7
GSD EDS file (Geraete Stamm Datei) Profibus
ISL Island file, project file Advantys
PB Profibus definitions file SyCon
PDF Portable Document Format - document Adobe Acrobat
PRO Project file PS1131 - CoDeSys
PS2 Export file PowerSuite
RTF Rich Text File - document Microsoft Word
SPA Schneider Product Archive TwidoSuite
STA Project Archive Unity Pro
STU Project file Unity Pro
STX Project file PL7
TLX Project file Twinline control tool
TWD Project file TwidoSoft
VDZ Project file Vijeo Designer
XEF Export file Unity Pro
XPR Project file TwidoSuite
ZM2 Project file Zeliosoft

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4

Typical Applications

Introduction Here you will find a list of the typical applications, and their market segments, where

this system or subsystem can be applied:

Industry:

Food & be verage

 Meat processing
 Trimmers
 Mixers

Metal processing

 Bending machines

Packaging

 Cartoning machines
 Palletizers
 Blister packaging machines

Buildings :

HVAC (Heating, ventilation and air-conditioning systems )

 Refrigeration machines
 Cooling towers

Application Description Ima ge

Packaging Machine Suitable for collecting products

of any shape, size and
consistency, in rows and layers.
Handles several kinds of
packages from simple products
to bundles.

Bottling Machine For the packaging industry

used for labelling, packing,filling
and palletting the goods.

Transporting materials
Pick-and-place
machines

Assembly machines that can
handle tools and products with
a great versatility of size, closes
the package and sorts it.

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5

System

Introduction The system chapter describes the archit ecture, the dimensions, the quantities and different

types of components used within this system.

Architecture

General The control section of this application consist s of a Modicon M340 PLC, w hich can be

operated via a connected Magelis HMI panel at user level. The device section is
implemented using Lex ium 15, Lexium 05, Altivar 71 and TeSys U, which are connected to
the PLC via the CANopen bus system.

The solution illustrated below inc l udes P reventa safety components featuring t amper-proof
emergency off switches.

Layout

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Components Hardware:

 Compact master switch (NS100N)
 GV2-L motor circuit breaker (short-circuit protection)
 Modicon M340 PLC with CANopen and Ethernet interface
 Magelis XB TGT HMI panel
 Preventa XPSMC safety contr oller
 Lexium 15 LP servo drive
 Lexium 05 servo drive
 Altivar A TV71 variable speed drive
 TeSysU motor starter
 TeSys K and TeSys D (LP1K and LC1D) lo ad contacto rs

Software:

 Unity Pro V3.0
 Vijeo Designer V4.40
 XPSMCWIN V2.00
 PowerSuite V2.30
 UniLink L V1.50

Quantities of
Components

Degree of
Protection

Technical
Data

For a complete and det ailed lis t of components, the quantities required and t he order
numbers, please refer to the components list at the rear of this document.

Not all the components in this configuration are designed to withstand the same
environmental conditions. Some components may need additional protection, in the form of
housings, depending on the environment in which you intend to use them. For
environmental details of the indiv idual components please refer to the list in the appendix of
this document and the appropriate user ma nual.

Mains voltage 400 V AC
Power requirement ~ 6 kW
Drive power rating 2x 1.3 kW, 12x 0.75 kW , 2x 0.25kW
Motor brake None
Connection 5x 2.5mm² (L1, L2, L3, N, PE)
Safety level Cat. 3

Safety Notice The standar d and level of safety you apply to your application is determined by your

system design and the overall extent to which your system may be a hazard to people
and machinery.

As there are no moving mechanical parts in this application example, category 3
(according to EN954-1) has been selected as an optional safety level.

Whether or not the above safety category shoul d be applied to your system should be
ascertained with a proper risk analysis.

This document is not comprehensive for any systems using the given architecture and
does not absolve users of their duty to uphold the safety requirements with respect to the
equipment used in their systems or of compliance with either national or international
safety laws and regulations

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Dimensions The dimensions o f the individual devices used; PLC, Drive, Pow er s upply, etc. require a

housing cabinet size of at least 800x600x300mm (WxHxD).
The HMI display, illuminated indicators such as "SYSTEM ON", "SYSTEM OFF" or

"ACKNOWLE DGE EMERGENCY OFF" as well as the Emergency Off switch itself, can be
built into the door of the housing.

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Installation

Introduction This c hapter describes the steps necessary to set up the hardware and configure the

software required to fulfill the described function of the application.

Assembly

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Assembly

contd.

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General

Hardware

 The components designed for installation in a co ntrol cabinet, i.e., the safety controller,

line circuit breakers, contactors, motor circuit breakers and motor starters, can be
mounted on a 35 mm top-hat rail.

 Master switches, the Phaseo power supply unit, variable speed drives and servo drives

are screwed directly onto the mounting plate.

 Emergency Off switches and the pushbutton housing for display and acknowledgement

indicators are designed for backplane assembly in the field. All switches can also be
installed directly in a c ontrol cabinet (e.g., in a cabinet door) without the need for th eir
enclosing housings.

 There are two options for installing XB5 pushbuttons or indicator lamps: These

pushbuttons or switches can be installed either in a 22 mm hole, e.g., drilled into the
front door of the control cabinet, or in an XALD-type housing suitable for up to 5
pushbuttons or indicator lamps. The XALD pushbutton housing is designed for
backplane assembly or direct wall mounting.

 The Magelis operator a nd display terminals require a cut-out in the front of the housing

so that they can be secured to the housing wall using br ackets/spring clamps.

 400 V/3-phase AC wiring for the load circuits (LXM15, LX M05, ATV71, TeSysU).
 240 V AC wiring for the power supplies.
 24 V DC wiring for control circuits and the PLC power supply, operator and display

terminals, I/O modules and the HMI.

The individual components must be interconnected in accordance with the detailed c irc uit
diagram in order to ensure that they fu nction correctly.

CANopen cables are installed for the communication link between the PLC and the devices
inside the control cabinet.

Modicon M340

CPU

including CANopen

and Ethernet

BMXP342030

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1 Display panel
2 USB port
3 Memory card protective ca p
6 Ethernet connection
7 Ethernet identification ring (green)
8 CANopen connection

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Modicon M340

Power supply
BMXCPS3020

Modicon M340

Analog

I/O modules

4 inputs

BMXAMI0410

Modicon M340

Analog

I/O modules

2 outputs

BMXAMO0210

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Modicon M340

Digital

I/O modules

for Telefast

32 inputs

BMXDDI3202K

32 outputs

BMXDDO3202K

16 inputs/16 outputs

BMXDDM3202K

Telefast for 16 I/ O

ABE7H16R21

Connection cable

BMXFCC303

16 inputs

16 outputs

Two I/O blocks are
connected to each
I/O module using the
connection cable
referred to above.

EMERGENCY OFF

switch

(tamper-proof)

XALK178G

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Preventa

safe ty controller

with CANopen

XPSMC16ZC

Preventa

expansion module

XPSECP5131

1 Display panel
2 RESET button
3 CANopen connection
4 TER connection
5 Terminals

6 CANopen LEDs
Further details about the terminals (5):
A1-A2 24 V power supply (A1: positive; A2:

negative)
GND Ground
o1-o6 Semiconductor safety outputs
13-44 Volt-free safety outputs with contacts
c1-c8 Control outputs
i1-i16 Safety inputs
H1 Muting lamp connection

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Lexium 15 LP

servo drive

LXM15LD28M3

Lexium 15 LP

servo drive

LXM15LD28M3

Lexium 15 LP

servo drive

LXM15LD28M3

-X0

Power terminal

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Lexium 15 LP

servo drive

LXM15LD28M3

-X4

Control voltage

Lexium 15 LP

servo drive

-X9

Motor cable connection

terminal

(cable length: 3 m)

VW3M5101R30

Lexium 15 LP

servo drive

-X1

Encoder cable

connection terminal

(cable length: 3 m)

VW3M8301R30

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Lexium 15 LP

servo drive

LXM15LD28M3

Overview

Single-phase

Lexium 05

servo drive

LXM05AD14N4

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Single-phase

Lexium 05

servo drive

LXM05AD14N4

Power terminals see T4

Single-phase

Lexium 05

servo drive

Motor cable connection

terminal

(cable length: 3 m)

VW3M5101R30

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Single-phase

Lexium 05

servo drive

LXM05AD14N4

Signal terminals

Single-phase

Lexium 05

servo drive

Encoder cable

connection terminal

(cable length: 3 m)

VW3M8101R30

Single-phase

Lexium 05

servo drive

LXM05AD14N4

Control power supply
HBC = Holding brake

control

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Single-phase

Lexium 05

servo drive

LXM05AD14N4

Terminals 33-39 must
be connected.

The motor brake (if
present) must be
connected via a holding
brake control (HBC)

Fieldbus wiri ng
The RJ45 c onnector
(CN4) is used for
CANopen.

Servo motor

On Lexium 15 LP

BSH0703T01A2A

On Lexium 05

BSH0702P02A2A

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Altivar 71 variable

speed drive

ATV71H075N4

Power terminals

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Altivar 71

variable speed drive

ATV71H075N4

Control terminals

The following switch
positions are used:

SW1 - Source
SW2 - LI

The PWR input of the
"Power Rem o val"
safety function is
connected to the
Emergency Off circuit.

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Magelis HMI

XBTGT2330

Phaseo power supply

ABL7RE2410

+ 24 V DC

- 0 V

FG Ground

1 USB port (USB 1.1)
2 COM1 serial port

(SubD, 9-pin)

3 Current input terminal

block (see image on
left)

4 COM2 serial port

(RJ45)

5 Polarity selector

switch

6 Ethernet interface

TeSysU

motor starter

Power base

LUB32

CANopen

communication module

LULC08

Coil wiring kit

LU9B N11C

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"Advanced" TeSysU

trip unit

(0.35 A – 1.40 A)

LUCB1XBL

TeSysU CANopen

communication

module
LULC08

1 24 V DC power

supply

2 Terminal for coil

wiring kit

Master swi tch

Compact NS100N

Motor circuit breaker

GV2 Lxx

Load contactor

LC1 Dxx

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Software

General Software is primarily used for two reas ons: first, for programming the M340 PLC and

configuring CANopen communication, and second, fo r generating visualization.
The PLC is programmed using the Unit y Pro programming tool.
The HMI application on the XBTGT 2320 Magelis display terminal is created using Vijeo

Designer software.
The Lexium 15 s ervo drives are parameterized using UniLink software.

The Lexium 05 s ervo drives and Altivar 71 variable speed dri ves can be parameterized via
the front operator panel. However, using the PowerSuite software is much easier.
The parameters can be saved and archived using UniLink and Powe rSuite. This is
extremely useful as it means that parameters can be restored rapidly whenever service
tasks need to be performed. The software can also help you to optimize the parameters
online.

To use the software packages, your PC must have the appropriate Microsoft Windows
operating system installed:

 Windows 2000 or
 Windows XP

Note: The description in this documentation is based on English -language versions o f the
operating system and installed software.

The software tools have the following default install paths

 Unity Pro
C:\Program files\Schneider Electric\Unity Pro

 Vijeo Designer
C:\Program files\Schneider Electric\VijeoDesi gner

 XPSMCWIN
C:\Program files\Schneider Electric\Safety Suite\XPSM CWIN

 UniLink L (for Lexium 15 LP)
C:\Program files\Schneider Electric\Unilink L

 PowerSuite
C:\Program files\Schneider Electric\PowerSuite

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Communication

General The methods o f c ommunication below are us ed between devices:

 CANopen
 Ethernet

The machine bus enabling communication between the PLC an d fieldbus devices is
implemented in the form of CANopen. Th ese devices are the safety controller, Lexium,
Altivar and TeSysU mot or start er.

Ethernet is used for data exchange between the PLC (Modicon M340) and rem ote HM I
(Magelis XBTGT). In addition, the applications can be transferred from the PC to the PLC
and HMI via Ethernet.

Connection cables are also required between the PC and the individual devices (for
programming/parameterization).

Modicon M340

CPU including CANopen

and Ethernet

BMX P34 2030

Ports

2 USB
6 Ethernet
8 CANopen

The MAC address is located on the front panel of the processor, below the display panel.

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Modicon M340

CPU

USB PC connection

cable

BMXXCAUSB018

(1.8 m)

BMXXCAUSB045

(4.5 m)

Magelis HMI

USB

PC connection cable

XBTZG935

Preventa

safe ty controller

Serial

PC connection cable

XPSMCCPC

in conjunction with

TSXPCX1031

The switch m ust be set
to Position 3:

OTHER DIRECT.

For transferring the Unity application from the PC to
the PLC.

Alternatively, the Ethernet port can be used for
connection pu rposes.

For transferring the Vij eo Designer configuration from
the PC to the HMI.

Alternatively, configuration can be performed via the
Ethernet port.

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Communication cable

TSXPCX1031

Lexium 05

Altivar 71

Serial

PC connection cable

VW3A8106

For the connection
between the PC (with
PowerSuite software)
and the ATV71
VSDs/LXM 05 servo
drives.

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Lexium 15 LP

Serial

PC connection cable

VW3M8601R30

For the connection
between the PC (with
UniLink software) and
LXM05 servo drives
(-X6A connector).

5-port ConneXium

Ethernet switch

499NES25100

Modicon M340

CPU including CANopen

and Ethernet

BMXP342030

Since both rotary
switches are locate d on
the rear of the module,
assigning the IP address
is really easy.

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For the purpose of this
application, the IP
address configured
(sto re d) in the Unity
project is used.

The following settings
must also be made on
the rotary switches:

Upper: 0
In this operating mode,
the switch is not
evaluated.

Lower: C or D
Use the configured
(stored) IP address

Magelis

XBTGT2330

Ethernet port for data
exchange with the PLC.

ConneXium

Ethernet cable

490NTW0000x

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CANopen

junction box

VW3CANTAP2

For the purpose of this
application, the slide
switch must be set to
OFF.

If, unlike in this
application, there is no
outgoing CANopen bus,
the line terminator must
be activ ated (i.e., the
slide switch must be set
to ON).

CANopen

RJ45 preassembled

connection cable

VW3CANCARRxx

This c able is used to
connect the junction box

VW3CANCARR1

(Length: 1.0 m)

VW3CANCARR03

(Length: 0.3 m)

to the Lexium 05.

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CANopen connector

VW3CANKCDF90T,

VW3CANKCDF90TP

or

VW3CANKCDF180T

This c onnector is used
for the link to the
CANopen node.

The terminating resistor
must be acti vated at the
end of the bus. To do
this, set the switch to
ON.

The bus cable must be
connected on the
incoming side.

CANopen cable

TCXCANCxyy

The cable is available in
various versions (x):

Standard
No Flame
Heavy Duty

and various lengths (yy):
50, 100, 300 m.

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Lexium 15

UniLink and

CANopen adapter

AM02CAN001V000

This adapter is used to
separate the RS232 an d
CANopen signals in
respect of connector ­X6.

This s plits up the signals
as follows:

-X6A RS232 UniLink

-X6B CA Nopen

In addition, terminating
resistor for CANopen
can be activated.

However, this does not
need to be carried out
for the purpose of this
application. Therefore,
ensure that the switch is
set to OFF.

Lexium 05

Modbus and CANopen

connector

The CANopen
terminating resistor can
be activated via switch
S1.

However, this does not
need to be carried out
for the purpose of this
application.

Therefore, ensure that
the switch is set to OFF.

Lexium 05

CANopen connector

The servo drive can be
connected to the
CANopen bus via
terminal CN1.

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Lexium 05

Modbus and CANopen

connector

In this application, the
junction box is used to
connect the servo drive
to the CANopen bus via
RJ45 socket CN4.

The same interface
features a Modbus port
for establishing a PC
and PowerSuite
software connection.

Altivar 71

CANopen adapter

VW3CANA71

The ATV 71 is
connected to the
CANopen bus using the
above adapter and
connector:

VW3CANKCDF180T.
The same interface

features a Modbus port
for establishing a PC
and PowerSuite
software connection.

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Preventa

safe ty controller

The safety controller is
connected to the
CANopen bus using
connector

VW3CANKCDF90T.

CANopen

junction box

TSXCANTDM4

This junction box is
placed in front of the
TeSysU motor s tarters
so that the 24 V DC
power supply can be fed
to the communication
modules.

For the purpose of this
application, the sliding
switch should be set to

OFF.
The power supply

requires max. 1.5 amp
fuse.

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CANopen

junction box

TSXCANTDM4

The two TeSysU motor
starters are connected
to the outgoing
CANopen bus.

Power supply:

V+1 24 V DC
CG1 0 V DC

TeSysU CANopen

communication

module

LULC08

The communication
module is connected to
the CANopen bus using
connector

VW3CANKCDF180T.
In the case of the first

connector, the
terminating resistor is
set to OFF and, in the
case of the second (th e
last bus node), it is set
to ON .

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TeSysU CANopen

communication

module
LULC08

The baud rate is set to
500 kbps .

The following addresses
are used:

1. TeSysU: 17

2. TeSysU: 18

Example:

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Implementation

Introduction The implementation chapter describes all the steps necessary to initialise, to c onfigure, to

program and start-up the system to achieve the application functions as listed below.

Function

Functional
Layout

Here is an overview of the indiv idual sub-sections:
 Function

A short description of the operating procedures

 Communication

The settings, memory areas and variable names used for communicatio n are
described here.

 PLC

Describes how to configure the PLC with Unity.

 HMI

Instructions for creating the HMI application.

 Devices

Procedure for parameterizing the devices used, such as the safety controller, Lexium,
Altivar, and TeSysU.

Instructions for switching on and functional description

1. Switch on the master switch.

2. Switch on all fuses and motor circuit breakers.

3. Acknowle dge Emergency Off signals.

4. Wait until all CANopen nodes are on the network.

5. The relevant nodes can be selected and controlled on the HMI. This is only intended
for manual operation.

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Communication

Introduction This c hapter describes the data passed via the communications bus (e.g. Modbus

Plus or TCP/IP) that is not bound directly with digital or analog hardware.
The list contains:

 The device links
 Direction of data flow
 symbolic name and
 Bus address of the device concerned.

Device Links The CANopen and TCP/IP bus systems are used in this application.

The devices below are networked via CANopen:

- One Modicon M340 PLC as the bus master, bus address 127

- One Preventa safety controller, bus address 2

- Six Lexium 05 servo drives, bus addresses 3 - 8

- Two Lexium 15 servo drives, bus addresses 9 - 10

- Six Altivar 71 variable speed drives, bus addresses 11 to 16

- Two TeSysU motor starters, bus addresses 17 and 18

Two devices are interconnected via TCP/IP, along with a PC that has Unity and
Vijeo Designer software installed on it for configuration purposes.

- Modicon M340 PLC, bus address 192.168.100.41

- Magelis XBTGT HMI, bus address 192.168.100.47

CANopen On the CANopen network, you can connect up to 63 slaves (addresses 1 – 63) and

one bus master to the bus.
Bus lengths, segments and junctions all have restrictions, which are outlined in the
tables below.

The data throughput rate selected for the bus determines the maximum length of

the entire network:

Baud rate Maximum length
1 Mbps 4 m
500 kbps 100 m
250 kbps 250 m
125 kbps 500 m
50 kbps 1000 m
20 kbps 2500 m

Note: N umber of PDOs supported:

- 256 receiving (RxPDO)

- 256 transmitting (TxPDO)

The following CANopen settin g s are used in this application:

- A baud rate of 500 kbps and

- A 200 ms heartbeat monitoring the nodes

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CANopen

- Address COB_ID with PDO

- COB-ID

Device Adr. via *)

Data Direction PLC  Device (TPDO)

1. 2. 3. 4. 5. 6. 7. 8.

- direction Safety 2 PDO 680 681 382 683

1. LXM05 3 MFB 183 483

2. LXM05 4 MFB 184 484

3. LXM05 5 MFB 185 485

4. LXM05 6 MFB 186 486

5. LXM05 7 MFB 187 487

6. LXM05 8 MFB 188 488

1. LXM15 9 MFB 189 289

2. LXM15 10 MFB 18A 28A

1. ATV71 11 MFB 18B

2. ATV71 12 MFB 18C

3. ATV71 13 MFB 18D

4. ATV71 14 MFB 18E

5. ATV71 15 MFB 18F

6. ATV71 16 MFB 190

1. TeSysU 17 PDO 191 491

2. TeSysU 18 PDO 192 492

Data Direction PLC  Device (RPDO)
COB_ID with PDO

Device Adr. via *)

1. 2. 3. 4. 5. 6. 7. 8.

Safety 2 PDO

1. LXM05 3 MFB 203

2. LXM05 4 MFB 204

3. LXM05 5 MFB 205

4. LXM05 6 MFB 206

5. LXM05 7 MFB 207

6. LXM05 8 MFB 208

1. LXM15 9 MFB 209 309 409

2. LXM15 10 MFB 20A 30A 40A

1. ATV71 11 MFB 20B

2. ATV71 12 MFB 20C

3. ATV71 13 MFB 20D

4. ATV71 14 MFB 20E

5. ATV71 15 MFB 20F

6. ATV71 16 MFB 210

1. TeSysU 17 PDO 211 511

2. TeSysU 18 PDO 212 512

*)

PDO: Process data objects are objects that represent the communication interface

for process data and enable real-time data exchange.

MFB: Motion Function Blocks use CANopen for straightforward access to basic

servo drive functions.

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CANopen

Ubertragungs-

Device Direction PDO Transmis-

sion Type

Safety Send

PDO 5

255 0 0

Inhibit time

[x100µs ]

Event time

[ms]

einstellungen Safety Send PDO 6 255 0 0

Safety Send PDO 7 255 0 0

Safety Send PDO 8 255 0 0
LXM05 Send PDO 1 255 50 0
LXM05 Send PDO 4 255 200 0
LXM05 Receive PDO 1 255 --- ---

LXM15LP Send PDO 1 255 20 0
LXM15LP Send PDO 2 255 10 0
LXM15LP Receive PDO 1 255 --- --­LXM15LP Receive PDO 2 255 --- --­LXM15LP Receive PDO 3 255 --- ---

ATV71 Send PDO 1 255 300 1000
ATV71 Receive PDO 1 255 --- ---

TeSysU Send PDO 1 255 0 0
TeSysU Send PDO 4 255 0 0
TeSysU Receive PDO 4 255 --- ---

Transmission type:

- Synchronous, acyclic: Transmission type 0 means that the message is to be
transmitted in synchronism with the SYNC message, but not cyclically.

- Synchronous, cyclic: A value bet ween 1 and 240 means that the PDO is
transmitted synchronously and cyclically. The transmission type value provi des the
number of SYNC messages between two PDO transmissions.

- Asynchronous PDO: Transmission type 254 means that the PDO is transmitted
asynchronously. This type is completely dependent on how it is implemented in the
device, and is mainly used for digital I/O.

- Synchronous PDO: Transmission type 255 means that the PDO will be transmitted
asynchronously as soon as the value changes.

Ensure that the configured transmission type is supported by the selected device.

Inhibit time

- The time during which no PDOs can be sent. 0 signifies t hat this has been
deactivated.

Event timer

- The time during which at least one PDO is sent. 0 signifies that this has been
deactivated.

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CANopen Modicon M340 (CANopen-Bus-Master) Safety (CANopen-Slave)

Datalink Data Direction PLC

PLC <> Safety Address Name Index Designation

%IW\3.2\0.0.0.0 XPS_Status 2000:00 Status Byte
%IW\3.2\0.0.0.1 XPS_Mode 2001:00 Mode Byte
%IW\3.2\0.0.0.4 XPS_Input_09_15 2004:00 Input data state 9-15
%IW\3.2\0.0.0.5 XPS_Input_01_08 2005:00 Input data state 1-8
%IW\3.2\0.0.0.8 XPS_Output_01_08 2008:00 Output data state 1-8

%IW\3.2\0.0.0.10 XPS_ErrIn_09_15 200A:00 Input error 9-15

%IW\3.2\0.0.0.11 XPS_ErrIn_01_08 200B:00 Input error 1-8
%IW\3.2\0.0.0.14 XPS_ErrOut_01_08 200E:00 Output error 1-8
%IW\3.2\0.0.0.16 XPS_Diag_1_A 2010:00 Diag info 1 low
%IW\3.2\0.0.0.17 XPS_Diag_1_B 2011:00 Diag info 1 high
%IW\3.2\0.0.0.18 XPS_Diag_1_Msg 2012:00 Diag message 1
%IW\3.2\0.0.0.20 XPS_Diag_2_A 2014:00 Diag info 2 low
%IW\3.2\0.0.0.21 XPS_Diag_2_B 2015:00 Diag info 2 high
%IW\3.2\0.0.0.22 XPS_Diag_2_Msg 2016:00 Diag message 2
%IW\3.2\0.0.0.24 XPS_Diag_3_A 2018:00 Diag info 3 low
%IW\3.2\0.0.0.25 XPS_Diag_3_B 2019:00 Diag info 3 high
%IW\3.2\0.0.0.26 XPS_Diag_3_Msg 201A:00 Diag message 3

Data direction PLC  Safety

Address Name Index Designation

--- --- --- ---

CANopen

Modicon M340 (CANopen-Bus-Master) Lexium 05 (CANopen-Sla ve)

Data Links Data Direction PLC

PLC <> LXM05 Addre ss Name Index Designation

%ID\3.x\0.0.0.0 --- 301B:07 PLCopenTX1
%ID\3.x\0.0.0.2 --- 301B:08 PLCopen Tx2
%ID\3.x\0.0.0.4 --- 6064:00 Position actual value
%ID\3.x\0.0.0.6 --- 606C:00 Velocity actual value

Datenrichtung SPS  Lexium 05

Address Name Index Designation

%QD\3.x\0.0.0.0 --- 301B:05 PLCopen Rx1
%QD\3.x\0.0.0.2 --- 301B:06 PLCopen Rx2

\3.x\ - x stands for the CANopen address of the first to the sixth Lexium 05 drive.
x can range from 3 to 8.



Safety



Lexium 05

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CANopen
Data Link Data direction PLC

Modicon M340 (CANopen-Bus-Master) Lexi um 15 LP (CANopen-Slave)



Lexium 15 LP

PLC <> LXM15 Addre ss Name Index Designation %ID\3.x\0.0.0.0 --- 6064:00 Position actual value

%ID\3.x\0.0.0.2 --- 606C:00 Velocity actual value
%IW\3.x\0.0.0.5 --- 6041:00 Statusword
%IW\3.x\0.0.0.6 --- 6061:00 Modes actual
%IW\3.x\0.0.0.4 --- 2088:00 Trajectory s tatus
Data direction PLC  Lexium 15 LP
Address Name Index Designation
%QW\3.x\0.0.0.6 --- 2080:00 Motion task
%QD\3.x\0.0.0.4 --- 60FF:00 Target veloc i ty
%QD\3.x\0.0.0.0 --- 607A:00 Target position
%QD\3.x\0.0.0.2 --- 6081:00 Profil velocity
%QW\3.x\0.0.0.7 --- 6040:00 Controlword
%QW\3.x\0.0.0.8 --- 6060:00 Modes set

\3.x\ - x stands for the CANopen address of the first and second Lexium 15 LP
drives.
x can be either 9 or 10.

CANopen
Data Link Data direction PLC

Modicon M340 (CANopen-Bus-Master) Altivar 71 (CANopen-Slave)



Altivar 71

PLC <> ATV71 Address Name Index Designation

%IW\3.x\0.0.0.0 --- 6041:00 Statusword
%IW\3.x\0.0.0.1 --- 6044:00 Control effort

Datenrichtung SPS  Altivar 71

Address Name Index Designation

%QW\3.x\0.0.0.0 --- 6040:00 Controlword
%QW\3.x\0.0.0.1 --- 6042:00 Target veloc ity

\3.x\ - x stands for the CANopen address of the first to the sixth Altiva r 71.
x can range from 11 to 16.

CANopen
Data Links Data Direction SPS

Modicon M340 (CANopen-Bus-Master) TeSy sU (CANopen-Slave)



TeSysU

PLC <> TeSysU Address Name Index Designation

%IW\3.x\0.0.0.6 TeSysU_y_Status 2004:06 Status register
%IW\3.x\0.0.0.9 TeSysU_y_IOst atus 2004:09 I/O module status register
%IW\3.x\0.0.0.11 TeSysU_y_War ning 2004:0C Warning register
%ID\3.x\0.0.0.0 --- 3000:03 PKW: Response object
%ID\3.x\0.0.0.2 --- 3000:04 PKW: Response data

Datenrichtung SPS  TeSysU

Address Name Index Designation

%QW\3.x\0.0.0.8 TeSysU_y_Control 2008:05 Control of the system
%QW\3.x\0.0.0.7 TeSysU_y_Comm 2008:04 Control of comm module
%QW\3.x\0.0.0.6 TeSysU_y_Output 2008:01 Control of outputs

%QD\3.x\0.0.0.0 --- 3000:01 PKW: Request object

%QD\3.x\0.0.0.2 --- 3000:02 PKW: Request data

\3.x\ - x stands for the CANopen address of the fir st and second TeSysU motor starters.
x can be either 17 or 18.
_y_ - y stands for the first and second TeSysU motor starters.
y can be either 1 or 2.

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Ethernet Data Direction HMI  SPS HMI <> PLC Device Start address Reserved Memory

Address summary

General %M501…600

Safety %M601…650

CANopen %MW401…420
Safety %MW421…430

1. LXM05 %MW500 %MW501…520

2. LXM05 %MW520 %MW521…540

3. LXM05 %MW540 %MW541…560

4. LXM05 %MW560 %MW561…580

5. LXM05 %MW580 %MW581…600

6. LXM05 %MW600 %MW601…620

1. LXM15 %MW620 %MW621…640

2. LXM15 %MW640 %MW641…660

1. ATV71 %MW660 %MW661…680

2. ATV71 %MW680 %MW681…700

3. ATV71 %MW700 %MW701…720

4. ATV71 %MW720 %MW721…740

5. ATV71 %MW740 %MW741…760

6. ATV71 %MW760 %MW761…780

1. TeSysU %MW781…800

2. TeSysU %MW801…820

Ethernet Data Direction HMI  PLC (for Lexium and Altivar)

HMI <> PLC
for Lexium
and Altivar

YY_X_Start +1 2 BOOL x x Start drive
YY_X_Dir +1 3 BOOL x x Direction
YY_X_Mode_VE +1 4 BOOL x Set velocity mode
YY_X_Mode_AB +1 5 BOOL x Set absolute pos. mode
YY_X_Mode_RE +1 6 BOOL x Set relative pos. mode
YY_X_Reset +1 7 BOOL x x Reset error
YY_X_Velocity +2 DINT x x Target velocity
YY_X_Position +4 DINT x Target position
YY_X_ACC +6 UDINT x Acceleration
YY_X_DCC +8 UDINT x Deceleration
YY_X_Active +11 0 BOOL x x Drive is active
YY_X_Disable +11 1 BOOL x x Drive is disabled
YY_X_Standstill +11 2 BOOL x x Drive in standstill
YY_X_Stopping +11 3 BOOL x x Drive in stopping
YY_X_IN_VE +11 4 BOOL x x Drive in velocity mode
YY_X_IN_AB +11 5 BOOL x Drive in absolute pos mode
YY_X_IN_RE +11 6 BOOL x Drive in relative pos mode
YY_X_in_Velocity +11 7 BOOL x x Drive reached velocity
YY_X_in_Position +11 8 BOOL x Drive reached position
YY_X_Error +11 9 BOOL x x Error
YY_X_Act_Position +12 DINT x Po sition actual value
YY_X_Act_Velocity +14 DINT x x Velocity actual value
YY_X_ErrorID +16 UDINT x x Error ID code
YY_X_ErrorMA +18 INT x x Error message code

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Name %MW Bit Typ LXM ATV Designation

YY_X_Read y +1 0 BOOL x x Drive is ready
YY_X_Power +1 1 BOOL x x Drive power on

YY - YY stands for the drive type.
YY can be either LXM05, LXM15 or ATV71.
_X_ - X represents the specific d rive number for a particular type.
X can range from 1 to 6.
The address is made up of the start address (mentioned abo ve) + % M W + bit. In the
case of the third Lexium 05 for the direction, the address is:
%MW540 + 1 + bit = %MW541.3

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Ethernet Data Direction HMI  PLC (für TeSysU)

HMI <> PLC
for TeSysU

YY_X_HMI_Run %MW781.1 %MW801.1 BOOL Pole status is closed
YY_X_HMI_Trip %MW781.2 %MW801.2 BOOL Tripped position
YY_X_HMI_Error %MW781.3 %MW801.3 BOOL Fault or warning
YY_X_HMI_Start %MW782.0 %MW802.0 BOOL Run forward
YY_X_HMI_Reset %MW782.1 %MW802.1 BOOL Reset fault and warning

Name 1. TeSysU 2. TeSysU Typ Designation

YY_X_HMI_Ready %MW781.0 %MW801.0 BOOL Power is ON

YY - YY stands for the drive type.
YY can be TeSysU.
_X_ - X represents the specific d rive number for a particular type.
X can be either 1 or 2.

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General
Addressing

PLC and HMI

Various hardware addresses, as well as flags and flag words, are used in the PLC/HMI
application. An overview of the addresses used is provided below. The "Address"
column shows how the address is written and the potential ranges within the example
application.

Type Address Comment

Digital inputs %Ir.m.x

-r: 0

-m: 1 - 3

-x: 0…31

Digital outputs %Qr.m.x

-r: 0

-m: 3 - 4

-x: 0…31

Analog inputs %IWr.m.c

-r: 0

-m: 5

-c: 0…3

Analog outputs %QWr.m.c

-r: 0

-m: 6

-c: 0…2

Flag words %MWx

-x Word

PLC: Digital inputs are specified on a hardware
basis: r indicates the rack number, m the slot and
x the input number.

PLC: Digital outputs are specified on a hardware
basis: r indicates the rack number, m the slot and
x the output number.

PLC: Analog inputs are specified on a hardware
basis: r indicates the rack number, m the slot and
c the channel number.

PLC: Analog outputs are specified on a hardware
basis: r indicates the rack number, m the slot and
c the channel number.

PLC and HMI: Flag words are used for data
exchange between the PLC and HMI. The range
depends on the settings in the PLC. Maximum:
32463; 0 - 9999 are used

Flags %Mx

-x Word

Derived flags %MWx.y

%MWx:Xy

-x Word

-y Bit

CANopen status %CHr.m.c

-r: 0

-m: 0

-c: 2

PLC and HMI: Flags are used fo r data exchange
between the PLC and HMI. The range depends
on the settings in the PLC. Maximum: 32633; 0 ­9999 are used

PLC and HMI: The elements (bits) from the flag
words are used for data exchange between the
PLC and HMI. The range depends on the settings
in the PLC. Maximum: 32633; 0 – 9999 used;
Bits 0 - 15. Various PLC notations.
%MW100.1 Bit 1 from MW100

HMI %MW102:X1 Bit 1 from MW100
PLC: Status data for CANop en is read vi a data

structure T_COM_CO_BMX (IODDT). Channel
address: r indicates the rack number, m the slot
and c the channel number.
CANopen status %CH0.0.2

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PLC

Introduction The PLC chapter describes the steps required for the initialization and configuration

and the source program required to fulfill the functions.

Pre­Conditions

Before carrying out the steps described below, you must ensure the following:

 The Unity Pro programming software is inst alled on your PC.
 The Modicon M340 PL C is c onnected to t he power supply.
 The PLC and the PC a re c onnected to one another via the programming cable

(BMXXCAUSB0xx) or Ethernet (with a known IP address).

Setting up the PLC is done as follows:

 Create a new program and select hardware.
 Parameterize the communication.
 Create new variables.
 Add CANopen nodes.
 Parameterize CANopen PDO.
 Set up axes for the drives.
 Program assignment.
 MFB - Motion Function Block.
 Create and use DFB.
 Required blocks.
 Create a new operator screen.
 Build project.
 Connect PC to PLC and transfer project.
 Export and archive project.

Creating a
New Program
and
Selecting
Hardware

To create a new program,

1

select New from the File menu.

A window opens where you

2

can select the CPU to be used.
For this application, select the

Modicon M 340 CPU

BMX P34 2030

and click OK to confirm.
This will load the default

settings.
Double-click the rack in the

3

project browser or right-click
and select Open.

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This will open the rack and the

4

Hardware catalog. To equip

the rack, simply select the
individual components and
drag and drop them to the
empty slots.

The following hardware is
used:

Rack BMX XBP 0800
Power BMX CPS 3020
CPU BMX P34 2030
32DI BMX DDI 3202K
32DI BMX DDI 3202K
16DI/16DO BMX DDM 3202K
32DO BMX DDO 3202K
4AI BMX AMI 0410
2AO BMX AMO 0210

The display shown opposite will

5

appear.

This is what the display looks

6

like as a tree structure in the
project browser.

At this point, it is recommended

7

that you save the project.
To do this, select
Save As…
in the File menu.
You can then select the File

name (<File name>.stu) and
the location where the file is to
be saved under Save in.

Click OK to exit.

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Parameteriz­ing the
Communi­cation

Ethernet and CANopen

1

interfaces are used in this
application.

For Ethernet, the first thing
you need to do is create a
new network.

To do this, right-click

Networks in the
Communication directory

and select
New Network….
Select Ethernet from the list

2

of networks in the window that
appears.

A name must also be entered.

3

You are free to choose any
name, but in this example,
ETH is used.

Click OK to confirm.

Open the parameterization

4

window by right-clicking ETH
and selecting Open.

First, select CPU 2030 under

5

Model Family.

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Click Yes to confirm the

6

prompt that appears.

Enter the IP address used on

7

the IP Configuration tab. In
this application, the following
address is used:

192.168.100.41

255.255.255.0

The HMI uses this address for
data exchange, and Unity Pro
uses it to connect to the PLC.

Note:

To be able to use this IP
address, the rotary switch on
the rear of the CPU must be
set to the stored IP address.
See Communication for
further details.

The entries must then b e

8

validated.
To do this, click the Tick icon

in the toolbar.
Under Communication and

9

Networks, a red cross

indicates that the network is
not assigned to any hardware.

The Ethernet interface is
available on the CPU being
used here.

Right-click on Ethernet and
select Open to assign the
CPU.

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Under Function, select:

10

ETH_TCP_IP.

Then, under Net Link, assign

11

the communication network
ETH that was created
previously.

Finally, validate these entries
as well.

The red cross under

12

Networks has now

disappeared.

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To access the CANopen

13

configuration, ri ght-click
CANopen in the project
browser and select:

Open.

Creating New Variables

A Transmission speed (baud

14

rate) of 500 kBaud is used.
Additionally, 200 words are

reserved for both Inputs and
Outputs. The indices of the
1st %MWs are 1001 (Input)
and 1201 (Output)
respectively.

32 bits are reserved for each
of the flags.

Once the application is

15

closed, selecting Build will
display the number of flags
and words that are actually
required.

Addresses must be assigned

1

to the va riables for the
purpose of data exchange
with the HMI.
The size of the addresses can
be adjusted.

To do this, right-click the CPU
and select Open.

The CPU properties appear.

2

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For this application, enter the

3

following sizes for the
individual globa l address

fields:
%M 10000
%MW 10000
%KW 10000

Select Validate under Edit to

4

validate the entries.
Alternatively, you can click the
icon on the toolbar.

Open the Data Editor by

5

right-clicking
Variables & FB instances
and selecting
Open.

You can ent er all variables in the Data Editor. To do this, enter the variable

6

name in the Name column and the variable type in the Type column.

An initial value can be set in the Value column.
To address the variables (located variables), an address must be entered in the

Address column. The following addresses appear on the partial screenshot
below:
%MW671.3 Bit 3 in word 671
%MW662 Flag w ord 662
%I0.1.1 Digital input from rack 0; card 1 of input 1.

7

Here is an address for a

8

CANopen node:

%IW\3.3\0.0.0 or
%IW\3.3\0.0.0.1
%IW Input word
\3.3\ Card 3 (CANopen)
CANopen address 3

0.0.0 1st word (also

0.0.0.0)

0.0.0.1 2nd word

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Adding CANopen Nodes

Once entered in the Data

9

Editor, the variable name
relating to the CANopen node
is displayed in the Symbol
column of the PDO tab.

Please consult the
documentation for other
address types.

10

The CANopen bus window can

1

be used to add up to 63
CANopen nodes.

To do this, select CANopen in
the project browser and Open
from the pop-up menu.

The CANopen windo w

2

appears.
Click the empty field and select
New Device
from the menu.

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Add the safety controller as the

3

first node.
Enter the CANopen address 2

in the Topological Addre ss
field.

As Part Number, select the
device XPSMC16ZC under
Discrete and click OK to
confirm.

The device with its CANopen

4

address is now displayed.
Click New Device in the next

field, as described above.

Since the six Lexium 05

5

CANopen nodes are being
controlled by MFB (Motion
Function Block), you must
select LXM05_MFB under
Motion.

Enter a value between 3 and 8
for the Topological Address.

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For the two Lexium 15 LPs,

6

select LXM15LP_V1_42 under
Motion.

Enter either 9 or 10 for the
Topological Address.

For the six Altivar 71 drives,

7

select ATV71_V1_1 under
Motion.

Enter a value between 11 and
16 for the Addre ss.

The two TeSysU devices are

8

the last of the CANopen nodes.
In this case, select

TeSysU_S c_Ad under Other.
This represents a TeSysU
StarterController (sc) with an
advanced (Ad = Advanced) trip
unit.

Enter either 17 or 18 for the
Address.

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All CANopen nodes should

9

now be displayed in the project
browser.

CANopen
PDO
Parameteriz­ation

You must now parameterize

1

the cyclic data exchange that
takes place via the PDOs.

To do this, select Open from
the pop-up menu for each
node and go to the PDO tab in
the window that appears.

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Initially, no PDO is activated

2

for the safe ty controlle r.
The following PDOs are

selected for o peration:

PDO 5 transmit
PDO 6 transmit
PDO 7 transmit
PDO 8 transmit

Note:

Further details on the PDOs
used, COB_ID, Transmission
Type, Inhibit and Event Time
for all CANopen nodes can be
found in the chapter
“Communication”.

The PDOs selected for the

3

safety controller are displayed
here.

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Click the tick icon to validate

4

the entries.

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If variables with topological

5

addresses have been
assigned, these are displayed
in the Symbol column.

Since the Lexium 05 servo

6

drive is controlled via MFB, no
changes can be made to the
PDOs.

These are set as follows:

PDO 1 transmit
PDO 4 transmit
PDO 1 receive

The Lexium 15 LP servo

7

drive is controlled via MFB.
The PDOs are set as follows:

PDO 1 tran smit
PDO 2 transmit
PDO 1 receive
PDO 2 receive
PDO 3 receive

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MFB is also used with the

8

Altivar 71 variable speed

drive.
To activate this, you must

select MFB in the Function
drop-down list.

The PDOs will then be set as

9

follows:

PDO 1 transmit
PDO 1 receive

The default PDOs are

10

accepted for the TeSysU.
These are:

PDO 1 transmit
PDO 4 transmit
PDO 1 receive
PDO 4 receive

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Setting Up Axes For the Drives

To use the drive with MFB

1

(Motion Function Block), you
must first set up an axis.

To do this, select Motion in
the project browser followed
by New axis from the pop-up
menu.

For the two Lexium 15 LP

2

servo drives, first assign an
axis name and a drive type on
the General tab.

In this application, the
following apply:

Name:

AXIS_L11 (1st LXM)
AXIS_L12 (2nd LXM)

Type: Lexium 15 LP

Unity Pro provides a list of

3

compatible CANopen
addresses to choose from.

In this application, the
following can be selected:

Address: \3.9\ (1st LXM)
\3.10\ (2nd LXM)

The completed General tab is

4

shown here.

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Enter the order reference on

5

the Axis parameters tab.
In this application, the

following is used:
Reference: LXM15LD28M3

The software version cann ot

6

be changed.
SV: 1.45

Define the associated

7

variables on the Variables
name tab.

For the 1st Lexium 15, t he
following are used:

Axis_Ref_L11
Can_Handle r_L11

and for the 2nd Lexium 15:

Axis_Ref_L12
Can_Handler_L12

Click OK to confirm.

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A recipe is assigned to the

8

axis.
To adjust the settings, you

must highlight it and select
Properties.

Enter the recipe variable

9

name here. Unity accepts the
parameter assignment.

For the Lexium 15 LP, the
following apply:

Name:

Recipe_L11 (1st LXM)
Recipe_L12 (2nd LXM)

Click OK to exit the window.

The contents of the proj ect

10

browser is updated.

The table below provides a summary of the entries for all drives.

11

Variable Names with Axis for

Axis_Ref CAN_Handler Recipe AxisParam

Drive

CANopen

Address

Name:

AXIS

1. LXM05 \3.3\ _L01 _L01 _L01 _L01 Desc_2

2. LXM05 \3.4\ _L02 _L02 _L02 _L02 Desc_2

3. LXM05 \3.5\ _L03 _L03 _L03 _L03 Desc_2

4. LXM05 \3.6\ _L04 _L04 _L04 _L04 Desc_2

5. LXM05 \3.7\ _L05 _L05 _L05 _L05 Desc_2

6. LXM05 \3.8\ _L06 _L06 _L06 _L06 Desc_2

1. LXM15 \3.9\ _L11 _L11 _L11 _L11 Desc_0

2. LXM15 \3.10\ _L12 _L12 _L12 _L12 Desc_0

1. ATV71 \3.11\ _A01 _A01 _A01 _A01 Desc_1

2. ATV71 \3.12\ _A02 _A02 _A02 _A02 Desc_1

3. ATV71 \3.13\ _A03 _A03 _A03 _A03 Desc_1

4. ATV71 \3.14\ _A04 _A04 _A04 _A04 Desc_1

5. ATV71 \3.15\ _A05 _A05 _A05 _A05 Desc_1

6. ATV71 \3.16\ _A06 _A06 _A06 _A06 Desc_1

Note:

The Axis Param name is automatically ass i gned by Unity Pro, and depends on the
parameterization order. Although discrepancies may occur in this respect, in effect the
function remains the same.

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For the six Altivar 71 variable

12

speed drives, enter the
following on the General tab:

Name:
AXIS_A01 ( 1st ATV)
to … A06 (6th ATV)

Type: ATV71
Address: \3.11\0.0.0 to

\3.16\0.0.0

Enter the following on the

13

Axis parameters tab:

Reference: ATV71…075…
SV: Automatic

The following variables are

14

used on the Variables nam e
tab.

(Thes e apply to the first to
sixth Altivar drives):

Axis_Ref_A01 to
Axis_Ref_A06

Can_Handler_A01 to
Can_Handler_A06

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The following variable name is

15

used for the recipe:
Name: Recipe_A01 to

Recipe_A06

For the six Lexium 05 servo

16

drives, enter the following on
the General tab:

Name: AXIS_L01 to
AXIS_L06

Type: Lexium 05
Address: \3.3\0.0.0 to

\3.8\0.0.0

Enter the following on the

17

Axis parameters tab:

Reference: LXM05AD10???
SV: 1.0

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The following variables are

18

used on the Variables nam e
tab:

Axis_Ref_L01 to
Axis_Ref_L06

Can_Handler_L01 to
Can_Handler_L06

The following va riable name is

19

used for the recipe:
Name: Recipe_L01 to

Recipe_L06

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Under Motion in the project

20

browser, the axes are
displayed as shown.

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Program Assignment

The individual p rogram

1

sections are display ed under
Program in the project
browser.

Here is a brief overview:

2

Start Consists of the functions that must be carried out when the

application program is started (e.g., initialize v ar iables).
Safety Analyzes the information provided by the safety controller.
Control_LXM05
Control_LXM15
Control_ATV71

These sections are responsible for controlling the

Lexium 15, Lexium 05 and Altivar 71 drives with Motion

Function Block.

MFB
Motion

Function
Block

Control_TeSysU Conventional control of two TeSysU motor starters.
HMI_Data Manages the comm unication data with the HMI.
CANopen Summarizes the CANopen information of each node.

The Motion Function Block

1

library contains blocks for the
straightforward control of servo
drives and variable speed
drives.

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These are listed in the

2

FBD-Editor under
MotionFunctionBlock and
MFB.

The following assignment table shows which block s are available for which drive

3

types:

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You can use the blocks to switch between particular operating states (see image

4

below). After a drive is switched on, its status is normally Disabled.

A CAN_HANDLER is absolutely essential for each drive and must be addressed in

5

each PLC cycle. The block uses the AXISREADY output to indicate whether the
axis/drive is available for control. The axes described above are used as
parameters.

Creating and Using DFB

6

The image opposite shows

7

another block which, with the
assistance of the axis
parameters, can control a drive
using CANopen.

Please refer to the bl ock and
startup documentation for an
exact description.

To get a compact and clear

1

overview of the configuration, it
is possible to group entire
functions in a DFB.

Two DFBs have been created
in this application, each o f
which contains the Altivar and
Lexium MFBs mentioned
above.

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First, specify the block inputs

2

and outputs.
You can det ermine the position

on the block using the number
entered.

In the Motion_LXM block, for

3

instance, there are three
sections a vailable.

Common control commands

4

are processed in the common
section. These are:

 Block status
 Axis error message
 Power connection
 Error acknowledgem ent
 Actual velocity and
 Actual position

The mode section consists of:

5

 Stop drive
 Velocity mode
 Absolute positioning mode
 Relative positioning mode

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Required Blocks

The error section provides a

6

summary of the error
messages.

As well as the standard blocks,

1

two DFBs are used in the
application. These are:

 Motion_LXM for Lexium

15 and Lexium 05

 Motion_ATV for Altivar 71.
The difference between the two

blocks is that, in the case of
Motion_LXM, positioning is
also possible.

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These can be exported

2

separately by right-clicking on
the corresponding DFB and
selecting Export.

You can select any directory

3

and file name here.
The file name ex tension is

.XDB.

These can be im ported into a

4

new project at any time.
To do this, select Import from

the menu.

Click Yes to confirm the

5

modification and save project

messages.

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Select the relevant file and click

6

Import.

The DFBs are displayed in the

7

Derived FB Type s directory.

Creating a New Operator Screen

The operator screen is used

1

to animate graphic objects
that symbolize the application.

Select the New screen menu
command under Operator
Scree ns to create a new
operator screen.

Enter the name of the

2

operator screen in the Name
field of the properties window
that opens.

Click OK to display the empty
operator screen.

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The various elements are

3

available in the toolbar.

Select the Text element and

4

then speci fy the text position
and area.

The animation is enabled by

5

checking the Animated
Object box on the Animation

tab of th e properties window.
Enter the Variable.
In this case, the text is only

visible if Bit = 1 is selected.

Select Standard Display on

6

the Animation Type tab.

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Line and field properties can

7

be specified on the Drawing
tab.

Both the text itself and its

8

properties are displayed on
the Text tab.

The text now appears as

9

follows:

The screenshot opposite

10

shows the control settings for
a Lexium 05 servo drive.

Unity is currently not
connected to the PLC.
If a connection to the PLC is

11

established (Online), the
elements are animated.

To operate objects in online
mode, you must clic k the
circled symbol.

The view sh own here displays

12

the elements that can be
operated.

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Building a Project

A project must be analyzed and

1

compiled before it can be
transferred to the PLC.

To do this, select Build and
Rebuild All Project in the
menu bar.

Alternatively, click the
corresponding icon in the
toolbar.

Click Yes to confirm the

2

message that follows.

The project is analyzed and t he

3

code generated.

Connecting the PC to the PLC and Transferring a Project

Once this is complete, the

4

number of errors and warnings
is displayed.

A box displaying Built can also
be seen in the bottom right­hand corner of the Unity
window.

To establish a c onnection to

1

the PLC, Standard Mode
must first be activated.

If the PLC is connected to the

2

PC via the USB cable, an icon
indicating this will be
displayed in the PC status
bar.

The Modicon M340 – BMX
CPU is displayed in the
Windows screen.

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Select PLC->Set Addre ss to

3

set the addr ess.

The following parameters are

4

set for a USB connection:
Address: SYS

Media: USB

These entries can be tested

5

directly. To do this, click Test
Connection on the right-hand

side.
A message window will

appear to indicate that
connection has been
successful. Click OK to
confirm.

Close the Set Address
window by clicking OK.

In Unity Pro, the mode of

6

connection that has been
selected is displayed in the
status bar at the bottom.

Select PLC->Connect to

7

connect to the PLC.

The status bar shows that the

8

PLC status is set to RUN and
that the current program is not
the same as the one in the
PLC (DIFFERENT).

Select:

9

PLC->Transfer Project to PLC

to download the project.

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Both the PC and PLC

10

projects, along with their
version and date, are
displayed in the window that
opens next.

Click Transfer to start the
download process.
The project ru nning on the

11

PLC must be stopped.
Click OK to continue.

The project is transferred and

12

the CANopen bus initialized.

The status bar shows that the

13

project is the same (EQUAL),
but that it is still in STOP
status.

14

Select

PLC -> Run

to start the program.

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Click OK to confirm.

15

The proje ct begins to run.

16

If an IP address has been

17

configured, it can be use d to
establish a connection
between the PC and PLC.

To do this, enter the IP
address in the Address field
in the Set Address window,
and select TCPIP under
Media.

Exporting and Archiving a Project

The IP address is displayed in

18

the status bar.

The following are exported as

1

part of a project export:

 Input/output configuration
 Sections
 SR program modules
 Event processing
 Unprotected DFB types
 DDTs
 Variables
 Animation tables
 References to protected

DFB types

To perform an export, select

File -> Export Project

via the menu bar.

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When a project is exported, the

2

software generates a *.XEF
file.

You can select any location in
which to save the file and any
file name.

Click Export to begin
exporting.

The project is exported. The

3

progress bar is displayed.

An exported project can be

4

opened directly with Unity Pro.

As well as the XEF export file and the STU project file, there is an STA project

5

archive.
The properties of the STA fil e are as follows:

 The STA file is highly compress ed (around 50 times more t han the STU file). It

is used to transfer projects t o networks (e.g, local or Internet networks).

 The STA file can be used to trans fe r projects between different versions of the

Unity Pro software.

 The STA file contains the entire project:

- The PLC binary files

- The read-out inform ation Comments and animation tables

- The operator screen

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If an STA file is selected, the

6

software offe rs a certain
amount of information:

 Project name
 Accompanying comment
 Version and date of project

generation

 The project's target PLC
 The date when the source

code was last changed.

 The version of Unity Pro

used to generate this
archive.

Select File->Save Archive via
the menu bar.

Select the location for saving

7

the file and the file name.
Click Save to begin archiving.

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Introduction

HMI

This applicatio n features a Magelis XBT-GT 2330 HMI, which is connected to the PLC via
the Modbus TCP/IP protocol.

Vijeo Designer software is used to program and configure the terminal. The steps to be
taken in order to create and download a program are described on the pages that follow.

Setting up the HMI is done as follows:

 Vijeo Designer function overvie w
 Create new project (specify platform, hardware, communication).
 Communication settings
 Create new variables
 Create screens
 Display error message
 Check the project and download it
 Application overview

Function Overvie w

Creating a New Project

The Vijeo Designer environment

1

consists of the following
elements:

1 Navigator
2 Information display
3 Inspector
4 Data list
5 Feedback area
6 Toolbox

After starting Vijeo Designer, a

1

new project can be created.
To do this, select,

File -> New Proje ct
in the menu bar.

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Enter a Project Name for th e

2

application and a comment
(optional).

Next, select the target device

3

used and enter a logical name.
Example project:
Target Name: CEM
Target Type XBTGT 2000
Model: XBTGT2330

In order to use the devic e's

4

Ethernet interface, you need to
enter the IP Address, Subnet

Mask and, if applicable, the
Default Gateway.

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In order to be able to exchange

5

data with other devices, the
Magelis HMI req uires a
communication dri ve r.

To set one up, click Add.

Start by selecting Schneider

6

Electric Industrie s SAS from
Manufacturer list.

For communicat ion with the
PLC, select Modbus TCP/IP in
the Driver list and Modbus

Equipment under Equipment.

Communi­cation
Settings

Once you have selected a
communication driver, you can
complete the creation of the new
project by clicking OK followed
by Finish.

Once you have created the

1

project, Vijeo Designer will
display the workspace described
above with an empty edit screen
on the right-hand side.

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It is possible to change the

2

settings for downloading the
project to the HMI.

To do this, click the target in the
Navigator (in this case, Cem)
and select Download in the
Property Inspector.

In order that the project can be
transferred to the Magelis HMI,
you will need to select Ethernet
as well as the IPAddress and
the SubnetMask of the HMI.

The interface parameters must

3

be declared to the Modbus
TCP/IP driver for c ommunication
with the PLC.

Right-click ModbusTCPIP01
and select

Configuration….

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The IP address of the HMI is

4

displayed here.

For the equipment

5

configuration, right-click
ModbusEquipment01

and select
Configuration….

Enter the IP Address of the

6

PLC here.

Under Communication

Optimization, select Maximum
Possible.

Following this, activate the IEC
Syntax and set the addressing

mode to 0-based (Default). This
means that the same ad dressing
is used as in the PLC
(%MWxxx).

Click Yes to confirm the
message that appears.

Right-click and select Rename

7

to change the default names as
follows:

Change ModbusTCPIP0 1 to

HMI

Change ModbusEq. to PLC

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Creating Variables

To create new variables in the

1

Navigator, select the Variables
tab at the bottom of the screen.

Right-click the project name to
access a popup menu and
select

New VariableNew....

To create variables, the

2

following information must be
entered:

 Variable Name
 Data Type
 Data Source (External)
 Device Addre ss in the PLC

All PLC flags (located variables)

3

can be addressed.
Types that can be defined

include flags (%M), words
(%MW), double words (%MD)
and floating points (%MF).

All data to be display ed on the
Viewer must be transferred to
one of these types.

It is also possible to both import

4

and export variables. Another
extremely convenient way of
importin g t he PLC variables is to
establish a direct connection to
the PLC p roject.

To do this, select the Link

Variables option from the
proje ct name menu on the
Variables tab.

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Next

5

select the file name/file.
Files of type: Unity Pro (*.s tu)
Equipment: PLC

Click Open to continue.

All variables from the PLC

6

project are displayed in this
window with a name and
address. The required variables
can be selected by clicking the
checkbox on the left-hand side.

To make the connection
between the PLC and HMI clear,
the same variable names are
used here. This option is set by
selecting Variables that kee p
the same name.

The selected variables are then
transferred by clicking Add.
Select Close to close the
window.

If other v ariables are required at

7

a later point, it is possible to
recall the window described
above by selecting

New Variables From Equipment.

Update Link… can be selected

to update the link in relation to
the PLC file.

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Creating Screens

The variables created are

8

displayed in the Navigator,
along with their names and
addresses.

The process for creating animations on sc reens will now be described using a numeric al
display. The functions are similar for other animation elements.

Selection from the menu bar.

1

Various icons and elements are
available in the menu bar and
the toolbox. Select Numeric

Display

First, define t he position and

2

size of the display area.

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Numeric Display Settings:

3

 Name
 Data Type
 Variable
 Display Format
 Font

The variable can be entered
directly or can be selected by
means o f the icon to the right of
the field (light bulb).

Note:

A variable name that has been
entered but not recognized
appears in red.

The variable to be animated c an

4

be transferred from the list by
double-clicking it.

Additional functions, e.g., value
inversion, c an be executed by
clicking on the calculator icon.

The screenshot opposite

5

(showing part of a complete
screen) displays various
animation elements.

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Displaying an Error Message

Property Inspector

6

Each animati on element on the
screen has its own pro perties
which can be v iewed in the
Property Inspector (right-click on
the object).

The property Inspector lists all
settings associated with the
element and they can be
modified.

In the PLC, servo drive error

1

messages c an be displayed as a
number from 0 to 16.

However, this needs to be
displayed as text on the HMI.

For this purpose, it is possible to
select and position the Message
Display.

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To begin making the settings,

2

select the Variable.
Also enter:
States: 17
Then click the New Resource

icon (to the right of the Color
Resource field).

Note:
On the I/O Settings tab in

Variable Properties,
BIN must be selected as Data

Forma t
16 bits as Data Length.

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In the New Resource window,

3

enter the following:
Color Name: ErrorColor
Text Name: ErrorText
No. of States 17
Select Message Display.
Data Type: Integer
Finally, click OK and Yes.

In the following table, a Label and Font Name can be entered for each Integer

4

Value (0 – 16).

The message display a ppears

5

on the screen, e.g. on the
screen for displaying a
Lexium 05 error.

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Downloading the Project

The approp riate output text will

6

then appear during operation
according to the error number.

Before being downloaded to the

1

HMI, the project must first be
analyzed.

To do this, select Validate All
from the Build menu.

The results are listed in the
Feedback Zone.

If Build All is selected instead,

2

the messages are still listed in
the Feedback Zone.

Select Download All under

3

Build to transfer the application

to the connected Magelis
terminal.

The configured method of
communication (in this case,
Ethernet) is used.

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Application Overvie w

Assigning the Ethernet IP Address

4

Unless the project has already been transferred using a USB cable, the HMI will
not have the correct IP address. For this reason, the IP address must be entered
via the offline setting mode before downloading takes place.

This is called up as follows:

 On powering up, touch the top left-hand corne r of the screen.
 Alternatively, while the application is being executed, touch three corners of

the screen at the same time. (In the platform properties of the Vijeo Designer
Editor, you can select the procedure to be followed by your application.)

 Next, enter the IP address.
 Switch back to online m ode.

The example application

1

features a number of displays
that can be selected by the user.

The structur e i s mapped on the
welcome screen. Manual
operation mode is set by default.
There are no lo gic configuration
settings in the PLC for automatic
mode.

All drives can run in m anual
mode, controlled directly via the
display. To do this, you must
switch to the relevant screen.

The HMI configuration screen
can be reached via System (in
the lower right-hand corner of
the screen).

The header o n subseque nt

2

screens is identical an d provides
information about the status of
the machine.

If a CANopen bus node is faulty,
this will be indicated in the
header under Bus. Switch to the
Bus screen to identify the node.
More information can be
accessed by pressing Detail.

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A summary of the individual

3

alarms is provided on the Alarm
screens. In the header, the
Alarm field is a group message.

Safety controller messages are

4

displayed on the Safety screen.
The two Emergency Stop

buttons are displayed along with
their inputs and the two outputs.
The details provide information
about the status, mode, outputs,
inputs and diagnosis.

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The screenshot opposite s hows

5

two Lexium 15 drives. Each
operation mode (velocity,
absolute positioning and relative
positioning) has a button for
selecting it. The drive is
activated by means of Pow e r.
The operation mode is t rigg ered
using Start. The direction is set
using Dir (in Velocity mode
only). An error message is
acknowledged by means of
Error. Both the setpoint speed
and setpoint position can be set
using a virtual keypad.

The status message
(COM = Communication,
Dis = Disabled and
Act = Active), the display of the
actual speed and actual
position, and the error message
all act as feedback.

The corresp onding scre en f or

6

the six Lexium 05 drives
appears opposite (3 screens for
every 2 dri ves).

Control of the six Altivar 71

7

variable speed drives is the
same as the lexium 05 but has
no positioning function. The
other control elements remain
the same.

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The two TeSysU motor starters

8

can be switched on and off
using Start. The status is
displayed by means of the
status elements.

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