Twido and Altivar
Magelis & OTB FTB
System User Guide
[source code]
33003614.01
Sep 2006
Contents
Application Source Code................................................................................... 4
Typical Applications.......................................................................................... 5
System................................................................ ................................................ 6
Architecture .....................................................................................................................6
Installation.......................................................................................................................9
Hardware ..............................................................................................................................................16
Software ...............................................................................................................................................24
Communication ....................................................................................................................................25
Implementation..............................................................................................................29
Communication ....................................................................................................................................32
HMI .......................................................................................................................................................38
PLC.......................................................................................................................................................55
Devices.................................................................................................................................................88
Performance....................................................................................................................................... 101
Appendix ........................................................................................................ 102
Detailed Component List............................................................................................. 102
Component Protection Classes................................................................................... 106
Component Features...................................................................................................107
Contact........................................................................................................... 115
Introduction
This document is intended to provide a quick introduction 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 part of
this document. Nevertheless, the document outlines some typical applications where the
system might be implemented.
Twido_Altivar_Magelis_OTB_FTB_EN.doc Schneider Electric
2
Abbreviations
Word / Expression Signification
AC
Advantys
Altivar (ATV)
CANopen
CB
CoDeSys
ConneXium
DC
EDS
E-OFF, E-STOP
Harmony
HMI
I/O
IclA (ICLA)
Lexium/Lexium05/LXM
Magelis
MB - SL
Micro
NIM
PC
Phaseo
PLC
Powersuite
Premium
Preventa
PS1131 (CoDeSys)
PS
SE
Sycon
Telefast
TesysU
Twido
TwidoSoft
TwidoSuite
Unity (Pro)
Vijeo Designer
VSD
WxHxD
XBT-L1000
Alternating Current
SE product name for a family of I/O modules
SE product name for a family of VSDs
Name for a communications maschine bus system
Circuit Breaker
Hardware-independant IEC 61131-3 programming software
SE product name for a Family of Transparent Factory devices
Direct Current
Electronic Data Sheet
Emergency Off switch
SE product name for a family of switches and indicators
Human Machine Interface
Input/Output
SE product name for a compact drive
SE product name for a family of servo-drives
SE product name for a family of HMI-Devices
SE name for a serial Modbus communications protocol
SE product name for a middle range family of PLCs
SE product name for a Network Interface Module
Personal Computer
SE product name for a family of power supplies
Programmable Logic Computer
An SE software product for configuring ALTIVAR drives
SE product name for a middle range family of PLCs
SE product name for a family of safety devices
SE Product name for PLC programming software with CoDeSys
Power Supply
Schneider Electric
SE product name of a Field bus programming software
SE product name for a series of distributed I/O devices
SE product name for a decentralised I/O System
SE product name of a middle range family of PLCs
SE product name for a PLC programming software
SE product name for a PLC programming software
SE product name for a PLC programming software
An SE software product for programming Magelis HMI devices
Variable Speed Drive
Dimensions : Width, Height and Depth
An SE software product for programming Magelis HMI devices
Twido_Altivar_Magelis_OTB_FTB_EN.doc Schneider Electric
3
Introduction
Application Source Code
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 source 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
CNF Configuration File
CO CANopen definitions file
CSV Comma Seperated Values, Spreadsheet
CTX
DCF Device Configuration File
DIB Device Independent Bitmap
DOC Document file
DOP
EDS Electronic Data Sheet – Device Definition
FEF
GSD EDS file (Geraete Stamm Datei)
ISL Island file, project file
PB Profibus definitions file
PDF Portable Document Format - document
PS2
RTF Rich Text File - docume nt
SPA
STU
STX
TLX
TWD
VDZ
XEF
XPR
ZM2
Configuration File Advantys
Sycon
Sycon
Twidosoft
Unity
Advantys
Sycon
Microsoft Word
Project File Magelis XBTL
Industrial standard
Export file PL7
Profibus
Advantys
Sycon
Adobe Acrobat
Export file Powersuite export file
Microsoft Word
Schneider Product Archive TwidoSuite
Project file Unity Pro
Project file PL7
Project file Twinline control tool
Project file TwidoSoft
Project file Vijeo Designer
Export file Unity Pro
Project File TwidoSuite
Project File Zeliosoft
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4
Introduction
Typi cal Applications
Here you will find a list of the typical applications, and their market segments, where this
system or subsystem can be applied:
Industrial
Small automated machine or plant components
Remote automation systems used to supplement large and medium-sized machines
Buildings/Services
Conveyor belt with turntable
Irrigation systems for greenhouses
Infrastructure
Air-conditioning/ventilation for tunnel systems
Food & Beverage/Pharmaceuticals
Control and monitoring of pumps and valves
Application Description Image
Conveyor belt with
turntable
Irrigation systems for
greenhouses
These plant components are
often connected upstream of a
larger packaging or filling plant
as feeder system components.
Sorting is possible using photo
barriers or weight sensors.
This application controls
irrigation in greenhouses.
Temperature, light and humidity
sensors permit the correct
irrigation of all types of plants.
Air-conditioning/
ventilation for tunnel
systems
Control and monitoring
of pumps and valves
Twido_Altivar_Magelis_OTB_FTB_EN.doc Schneider Electric
Tunnel systems must be
ventilated according to weather
and traffic conditions. Smallscale systems can control
turbines and valves in
ventilation shafts and monitor
carbon monoxide levels and air
quality.
As part of an overall plant or
external station in a water
supply/drainage system.
Pressure sensors, flow meters
and level measuring (e.g.,
inductive measurements) can
be used to adjust delivery
according to demand.
5
Introduction
General
System
The system chapter describes the architecture, the dimensions, the quantities and different
types of compone nts used within this system.
Architecture
The control section of this application consists of a Twido PLC, which can be controlled via
a connected Magelis HMI panel. The load section is implemented using Altivar 31 VSDs,
which are connected to the control system via the CANopen bus system and two
TeSys U-line starter-controllers with reversing contactors.
The solution illustrated below offers three optional safety packages: a Preventa evaluation
unit featuring an emergency-off function that can be accessed via 2 tamper-proof
emergency-off buttons, and an evaluation unit of the same type that ensures door safety
within the context of this application by using safety limit switches. A Preventa evaluation
unit is also used to monitor a ligh t curtain.
Four other OTBs are used as digital I/O for the remote locations H2-H3. Four FTBs are
used for sensor acquisition in the field.
Layout
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6
Components
Hardware:
Emergency Off Master switch, 3-pole, 20A, 7.5KW (VCF 02GE)
Motor fuse protector Multi 9 21107
Altivar ATV31 variable speed drive with CANopen interface
Motor starter, TeSysU-line type
XALK locking-type emergency-off button with rotary unlocking (tamper-proof)
Emergency-off switchin g devices, Preventa type
Phaseo ABL7 RE power supply unit
Modular/compact Twido PLC with CANopen module
Magelis XBT-G compact color display terminal
Advantys OTB and FTB modules for CANopen
ZB5 pushbuttons and indicator lamps
OSI family sensors (Osiprox, Osiswitch, Osiris)
Standard AC motors
Software:
TwidoSuite Version 1.0
Advantys Lite Version 1.4
PowerSuite 2.3
Vijeo Designer V4.4
Quantities of
Components
Degree of Protection
Technical Data
For a complete and detailed list of components, the quantities required and the 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 individual components please refer to the list in the appendix of
this document and the appropriate user manual.
Supply voltage 400 V AC
Total supply output ~ 11 kW
Drive rated powers 4 x 0.37 kW
Motor brake None
Connector cross-section 5 x 2.5mm² (L1, L2, L3, N, PE)
Safety category Cat. 3 (optional)
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Safety notice
Dimensions
The standard 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 should 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 complian ce with either national or international
safety laws and regulations
The dimensions of the devices used for H1 (e.g., the PLC, variable speed drive and the
power supply) are suitable for installation inside a small control cabinet measuring
800x600x300 mm (WxHxD).
In addition, the display and control elements (e.g., start/emergency-off acknowledgment)
can be integrated into the control cabinet door along with the Magelis HMI.
The Advantys OTB devices for H2 and H3 with their connection components should be
installed directly on site in two small cabinet measuring 300x300x250mm (WxHxD). The
buttons can be fed through or, with greater depths (300mm), installed inside the cabinet.
The Advantys OTB devices combined with the TeSys U units in H4 should be installed in
a cabinet measuring 600x600x300mm (WxHxD). In addition, the display and control
elements (e.g., start/emergency-off acknowledgment) can be integrated into the control
cabinet door.
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Introduction
Assembly
Installation
This chapter describes the steps required to assemble the hardware and install the
software in order to solve the application task concerned.
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9
Assembly
Contd.
Note
Twido_Altivar_Magelis_OTB_FTB_EN.doc Schneider Electric
The configuration used for this application is based on the example of a pallet conveyor
system with a turntable.
The components and I/O points listed below represent a cross-section of the components
and signals that are essential for control and display purposes, and a number of optional
inputs and outputs that can be used in this application with the architecture described.
10
Wiring of the
Control
Inputs and
Outputs
Twido PLC
inputs
Twido PLC
outputs
Twido
power supply
%I 0.0
%I 0.1
%I 0.2
%I 0.3
%I 0.4
%I 0.5
%I 0.6
%I 0.7
%I 0.8
%I 0.9
%I 0.10
%I 0.11
%I 2.0
%I 2.1
%I 2.2
%I 2.3
%I 2.4
%I 2.5
%I 2.6
%I 2.7
%Q 1.0 (Trans)
%Q 1.1 (Trans)
%Q 1.2
%Q 1.3
%Q 1.4
%Q 1.5
%Q 1.6
%Q 1.7
Com (inputs)
-V
Com (+)
Com 1
Com 2
Com 3
Emergency-off Preventa activated
Emergency-off switch 1 pressed
Emergency-off contactor activ ated
Light curtain activated
Light curtain Preventa activated
Motor contactors 1-4 controlled
Acknowledge button error
Start button
Stop button
Manua l mode button
Free
Free
Limit switch 1 activated
Limit switch 2 activated
Emergency-off switch 2 pressed
Free
Belt 1 fuse OK
Belt 2 fuse OK
Belt 3 fuse OK
Turntable fuse OK
Free
Free
Signal lamps – green - Running
Signal lamps – yellow - Manual mode
Signal lamps – red - Fault
Button – blue - Running
Button – white - Manual mode
Button – blue – Acknow. light curtain
0 V DC reference voltage
0 V DC reference voltage
+24 V DC
+24 V DC
+24 V DC
+24 V DC
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Wiring of OTB1
Advantys
OTB inputs
Advantys
OTB outputs
Advantys
OTB power
supply
%IWC1.8.0:X0
%IWC1.8.0:X1
%IWC1.8.0:X2
%IWC1.8.0:X3
%IWC1.8.0:X4
%IWC1.8.0:X5
%IWC1.8.0:X6
%IWC1.8.0:X7
%IWC1.8.1:X0
%IWC1.8.1:X1
%IWC1.8.1:X2
%IWC1.8.1:X3
%QWC1.8.0:X0 Trans
%QWC1.8.0:X1 Trans
%QWC1.8.0:X2
%QWC1.8.0:X3
%QWC1.8.0:X4
%QWC1.8.0:X5
%QWC1.8.0:X6
%QWC1.8.0:X7
Com (inputs)
-V
Com (+)
Com 1
Com 2
Com 3
CANopen
Reverse belt 1
Stop belt 1
Forward belt 1
Free
Free
Free
Free
Free
Free
Free
Free
Free
Free
Free
Free
Free
Free
Free
Free
Free
0 V DC reference voltage
0 V DC reference voltage
+24 V DC
+24 V DC
+24 V DC
+24 V DC
Wiring of OTB2
Advantys
OTB inputs
Advantys
OTB outputs
Advantys
OTB power
supply
%IWC1.9.0:X0
%IWC1.9.0:X1
%IWC1.9.0:X2
%IWC1.9.0:X3
%IWC1.9.0:X4
%IWC1.9.0:X5
%IWC1.9.0:X6
%IWC1.9.0:X7
%IWC1.9.1:X0
%IWC1.9.1:X1
%IWC1.9.1:X2
%IWC1.9.1:X3
%QWC1.9.0:X0 Trans
%QWC1.9.0:X1 Trans
%QWC1.9.0:X2
%QWC1.9.0:X3
%QWC1.9.0:X4
%QWC1.9.0:X5
%QWC1.9.0:X6
%QWC1.9.0:X7
Com (inputs)
-V
Com (+)
Com 1
Com 2
Com 3
CANopen
Reverse belt 2
Stop belt 2
Forward belt 2
Reverse belt 3
Stop belt 3
Forward belt 3
free
free
free
free
free
free
free
free
free
free
free
free
free
free
0 V DC reference voltage
0 V DC reference voltage
+24 V DC
+24 V DC
+24 V DC
+24 V DC
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Wiring of OTB3
Advantys
OTB inputs
Advantys OTB outputs
Advantys OTB power supply
%IWC1.10.0:X0
%IWC1.10.0:X1
%IWC1.10.0:X2
%IWC1.10.0:X3
%IWC1.10.0:X4
%IWC1.10.0:X5
%IWC1.10.0:X6
%IWC1.10.0:X7
%IWC1.10.1:X0
%IWC1.10.1:X1
%IWC1.10.1:X2
%IWC1.10.1:X3
%QWC1.10.0:X0 Trans
%QWC1.10.0:X1Trans
%QWC1.10.0:X2
%QWC1.10.0:X3
%QWC1.10.0:X4
%QWC1.10.0:X5
%QWC1.10.0:X6
%QWC1.10.0:X7
Com (inputs)
-V
Com (+)
Com 1
Com 2
Com 3
CANopen
free
Reverse belt turntable
Stop belt turntable
Forwards belt turntable
Reverse belt process
Stop belt process
Forwards belt process
Reverse turntable
Stop turntable
Forwards turntable
free
free
free
free
free
free
free
free
free
free
0 V DC reference voltage
0 V DC reference vo ltage
+24 V DC
+24 V DC
+24 V DC
+24 V DC
Wiring of OTB4
Advantys
OTB inputs
Advantys OTB outputs
Advantys OTB power supply
%IWC1.11.0:X0
%IWC1.11.0:X1
%IWC1.11.0:X2
%IWC1.11.0:X3
%IWC1.11.0:X4
%IWC1.11.0:X5
%IWC1.11.0:X6
%IWC1.11.0:X7
%IWC1.11.1:X0
%IWC1.11.1:X1
%IWC1.11.1:X2
%IWC1.11.1:X3
%QWC1.11.0 :X0 Trans
%QWC1.11.0 :X1Trans
%QWC1.11.0:X2
%QWC1.11.0:X3
%QWC1.11.0:X4
%QWC1.11.0:X5
%QWC1.11.0:X6
%QWC1.11.0:X7
Com (inputs)
-V
Com (+)
Com 1
Com 2
Com 3
CANopen
Free
Free
Free
Door safety contactor
Door safety Preventa Module
Belt Turntable in reverse
Belt Turntable running forwards
Belt Process in reverse
Belt Process running forwards
free
free
free
free
free
Belt Turntable command reverse
Belt Turntable command forwards
Belt Process command reverse
Belt Process command reverse
free
free
0 V DC reference voltage
0 V DC reference voltage
+24 V DC
+24 V DC
+24 V DC
+24 V DC
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13
Wiring of FTB1
Advantys
FTB
Advantys FTB power supply
%IWC1.4.0:X0
%IWC1.4.0:X1
%IWC1.4.0:X2
%IWC1.4.0:X3
%IWC1.4.0:X4
%IWC1.4.0:X5
%IWC1.4.0:X6
%IWC1.4.0:X7
%QWC1.4.0
%QWC1.4.1
CANopen
light curtain belt 1
light curtain belt 2
light curtain belt 3
free
free
free
free
free
free
free
Wiring of FTB2
Advantys
FTB
Advantys FTB power supply
%IWC1.5.0:X0
%IWC1.5.0:X1
%IWC1.5.0:X2
%IWC1.5.0:X3
%IWC1.5.0:X4
%IWC1.5.0:X5
%IWC1.5.0:X6
%IWC1.5.0:X7
%QWC1.5.0
%QWC1.5.1
CANopen
Proximity sensor Pos1
Proximity sensor Pos1.2
Proximity sensor Pos2
Proximity sensor Pos2.2
free
free
free
free
frei
frei
See FTB1
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Wiring of FTB3
Wiring of FTB4
Advantys
FTB
Advantys FTB power supply
Advantys
FTB
Advantys FTB power supply
%IWC1.6.0:X0
%IWC1.6.0:X1
%IWC1.6.0:X2
%IWC1.6.0:X3
%IWC1.6.0:X4
%IWC1.6.0:X5
%IWC1.6.0:X6
%IWC1.6.0:X7
%QWC1.6.0
%QWC1.6.1
CANopen
%IWC1.7.0:X0
%IWC1.7.0:X1
%IWC1.7.0:X2
%IWC1.7.0:X3
%IWC1.7.0:X4
%IWC1.7.0:X5
%IWC1.7.0:X6
%IWC1.7.0:X7
%QWC1.7.0
%QWC1.7.1
CANopen
Photo barrier belt turntable
free
free
free
free
free
free
free
frei
frei
See FTB1
Photo barrier belt sequence
free
free
free
free
free
free
free
free
free
See FTB1
Wiring of VSD1
Wiring of VSD2
Wiring of VSD3
Wiring of VSD4
ATV31
ATV31
ATV31
ATV31
CANopen
CANopen
CANopen
CANopen
See VSD1
See VSD1
See VSD1
Twido_Altivar_Magelis_OTB_FTB_EN.doc Schneider Electric
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Hardware
General The components designed for installation in a control cabinet, i.e., master switch, Twido
PLC, Phaseo power supply unit, emergency-off switching device, line circuit breaker,
contactors and motor circuit breaker, can be snapped onto a 35 mm DIN rail.
The Altivar variable speed drive can also be snapped onto a DIN rail using an adapter,
but can also be screwed directly onto the mounting plate without the need for an
adapter plate.
The emergency-off and door-safety switches, indicator bank as well as the housing for
display and acknowledge indicators, are designed for backplane assembly in the field;
with the exception of the door-safety switch, all switches can also be installed directly in
a control cubicle (e.g., in cubicle door) without their enclosing housings.
There are two options for installing XB5 pus hbuttons 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 individual components must be interconnected in accordance with the detailed circuit
diagram in order to ensure they function correctly.
Master switch complete
VCF02GE
Option
for Cabinet door
Emergency OFF
Master Switch
VCD0
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EMERGENCY-OFF
switch
(tamper-proof)
XALK174G
Option
for Cabinet door
Emergency OFF
Switch
(Tamper Proof)
XB5AS8445
Contactor
TesysD
LC1D093BD
Contactor
TeSys
GV2L08
+GV2AE11
(Maintenance Switch)
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TeSys U-line module
contactor
LUB12
+
LU2B12BL
+
LUA1C11
+
LUFN11
+
LUCA05BL
Preventa
safety relay
XPS AK331144P
Indicator Beacon
XVB-C
Twido_Altivar_Magelis_OTB_FTB_EN.doc Schneider Electric
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Position switch
OsiSwitch
XCKD2121P16
Light curtain
XUSLTR5A0350
+ cable extensions
XSZTCR10
XSZTCT10
Safety limit sw itch
with door safety operating
lever
XCSPL751
Phaseo power supply
unit
ABL7RE2410
Twido_Altivar_Magelis_OTB_FTB_EN.doc Schneider Electric
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Twido PLC
modular power base
TWDLMDA20DRT
Twido PLC
interface module
CANopen master
TWDNCO1M
Twido DC IN module
8x DC IN
TWDDDI8DT
Twido_Altivar_Magelis_OTB_FTB_EN.doc Schneider Electric
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Twido OT B
OTB1C0DM9LP
CANopen module 12x DC
IN/6x DC O UT/2x AC
OUT
FTB module
8 IN/diagnostic 8 OUT
FTB1CN08E08S
Light Curtain
XUB1APANM12
Proximity sensor
XS608B1PAM12
Twido_Altivar_Magelis_OTB_FTB_EN.doc Schneider Electric
21
Cable for photo
barriers and proximity
sensor
XZCP1 264L2
Only 1x M12 connector for
sensor: other side must be
extended with connector
XZCC12FDM40B
CANopen connector
TSX CANKCDF90TP
(additional contact for bus
analysis) or
TSX CANKCDF90T
Both incl. terminating
resistor for connection to
Twido CANopen Master
CANopen cable
TSXCANCA50
Magelis operator
terminal
XBTGT 1100
Twido_Altivar_Magelis_OTB_FTB_EN.doc Schneider Electric
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Variable speed drive
Altivar ATV31
ATV31H037N4
CANopen TAP
VW3CANTAP2
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23
General
Software
The software is primarily used for programming the Twido PLC and configuring CANopen
communication, as well as for visualization.
The TwidoSuite programming tool is used for programming the PLC.
The HMI application on the XBT-GT 1100 Magelis display terminal is configured using
Vijeo Designer software.
Although Altivar 31 variable speed drives can be parameterized via the front panel, the
PowerSuite software is a more user-friendly option. As well as providing a convenient
means of setting drive parameters, this software also enables data to be saved and
archived. These functions are extremely useful as they mean that parameters can be
restored rapidly whenever service tasks need to be performed. The software can also help
you to optimize the parameters online. The software is supplied with the drive.
To use the software packages, your PC must have the appropriate Microsoft Windows
operating system installed:
Windows 2000 or
Windows XP
The software tools have the following default install paths:
TwidoSuite
C:\Program Files\Schneider Electric\TwidoSuite
Advantys
C:\Program Files\Schneider Electric\Advantys
Vijeo Designer
C:\Program Files\Schneider Electric\VijeoDesigner
PowerSuite ATV31
C:\Program Files\Schneider Electric\PowerSuite
Twido_Altivar_Magelis_OTB_FTB_EN.doc Schneider Electric
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Communication
HMI <> Twido
Magelis
communication cable
XBTZ9780
A Modbus connection is used to excha nge data between the
Magelis termina l and the Twido PLC. The XBTZ9780
communication cable shown below is needed to connect
these two devices. The software driver required for Modbus
communication is already contained in the software
packages for the Magelis panel and the Twido.
Twido <> PC
Twido programming
cable
TSXPCX1031 (serial)
or
TSXPCX3030 (USB)
A TSXPCX1031 (serial) or TSXPCX3030 (USB)
communication cable is used to exchange data between the
Twido PLC and the programming PC.
An extra driver must be installed for the USB cable. The
driver for the serial cable is integrated into the TwidoSoft
tool.
Ensure that switch position 2 is set on the cable. Port 1 must
be set/configured on the control system for poin t-to-point
communication.
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25
HMI <> PC
An XBTGZ915 communications cable is used to exchange
data between the HMI XBTGT 1100 and the programming
PC.
This is contained in the Vijeo Designer software package.
XBTG programming
cable
XBTGZ915
ATV31 <> PC
Programming the Altivar is done using the cable VW3A8106
and the Powersuite cable RJ45<>SubD 9 (black).
ATV31-Programming
Cable
VW3A8106
Twido_Altivar_Magelis_OTB_FTB_EN.doc Schneider Electric
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CANopen
The data transfer between the individual bus clients can be implemented with either self
made or pre-confectioned cable. Below you will find a component description.
CANopen
Master Module
TWDNCO1M
The CAN open-Interface-
Module is plugged into
the Twido PLC and has
a Sub-D-9 CANopen
connection
CANopen Plug
TSXCANKCDF90T
Use this plug on the
TWDNCO1M. Plug
includes a terminal
resistor.
CANopen-Kabel
TSXCANCD50
Flexibles Kabel
CANopen-TAP
VW3CANTAP2
Connection for 2 drives
of type Altivar 31.
Configuration port for
use with PowerSuite.
Terminal resisitor can be
selected using the
ON /OFF switch.
The image shows the
resistor set to OFF.
CanOpen
Branch Cable
VW3CANRR1
Connects the TAP to the
Altivar 31 with two RJ54
plugs.
Twido_Altivar_Magelis_OTB_FTB_EN.doc Schneider Electric
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Bus Cable CANopen
FTXCN3210
Connect the FTB
modules in serie starting
with the
CANopen-Tap
VW3CANTDM4.
PIN Signal Colour
1 Shld -
2 V+ Red
3 GND Black
4 CAN_H White
5 CAN_L Blue
Power Supply Cable
FTXDP2210
the FTB power supply
cables are linked in serie
from one module to the
next.
Advantys FTB
Terminal Resistor
CANopen
FTXCNTL12
Connect to the last
FTBModule in the series
on the BU S OUTSocket.
PIN Signal Cable
1 0V 1
2 0V 2
3 PE Green/Yellow
4 +24V DI 3
5 +24V DO 4
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Introduction
Function
General
Manual & Auto
Implementation
The implementation chapter describes all the steps necessary to initialise, to configure, to
program and start-up the system to achieve the application functions as listed below.
This is a simple function which has been selected to illustrate all of the components used in
a practical application and to demonstrate their functions.The function can of course be
modified to your own requirements.
The conveyor belt system consists of five belts. The packets are delivered via the chute onto
the first belt. The first three belts, operating at different speeds, increase the distance
between the packets and are controlled by the first three VSDs. The next stage is a short
belt on a turntable. The turntable alters the direction of transport by 90°. The packet is finally
conveyed via a fifth belt to the exit. Here the packet is passed onto the next section by a
robot.
Photo barriers are used to isolate the packets so that at any time there is only one packet in
a segment/belt. All three belts are controlled by variable speed drives (VSD) to permit
differing speeds.
Belt 4 only accepts packets from belt 3 in the “Receive” position, during which belt 4 is
driven then stopped as soon as the photo barrier is broken. The turntable then moves to the
next position, “Release”. As soon as the turntable reaches the “Release” position, the belt is
restarted and then runs for a certain time to ensure that the packet has left the belt . The
turntable then returns to the “Receive” position.
The turntable is controlled by a fourth VSD and monitored by four proximity sensors as
position indicators and two limit switches as impact protection devices..
Belt 5 receives the packet in the “Receive” position and conveys it until it has passed the
photo barrier. If the photo barrier is then opened, the belt is run as “Empty”.
Belts 4 and 5 are both controlled by a TeSys U. The belts are thus run at a constant speed.
There are 3 operation modes: Manual and Automatic and HMI. A pushbutton is provided to
change between manual and automatic. It reacts to a rising edge.
The individual buttons for motor control are only enabled in manual mode but the buttons in
the 4-button housing and the two individual acknowledge buttons are excluded from this precondition. The HMI mode can only be selected and de-selected on the Magelis XBTG
device.
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Safety devices
Push
Buttons
Illuminated beacon
the Emergency-off buttons switch the power off for the complete plant. This excludes all
PLC components and sensors. This is registered and displayed as a fault on the illuminated
beacon. As long as the fault is present, the acknowledge button blinks, turning to permanent
when the emergency off buttons have been unlocked.
When activated, the light curtain isolates all four VSDs from the motors. This is signaled
and displayed as a fault on the illuminated beacon. Although an acknowledgement is
possible, the acknowledge button for the light curtain assum es that the fault is still active and
blinks permanently.
The door switch disconnects the two belt motors from the TeSys U units when the door is
opened. Although an acknowledgement is possible, the acknowledge button for the door
switch assumes that the fault is still active and blinks permanently.
All switch-off operations are performed on the hardware itself, only the relevant fault
signaling must be performed in the PLC.
The buttons as described here and in the assembly model, are housed in an external
housing. They could, however, be built into a cabinet door. If you decide on this option, the
buttons require a 22mm diameter hole and you do not need to order the separate button
housing.
The quadruple button housing is for the buttons Start, Stop, Man/Auto und Acknowledge.
Start CANopen Master Reset on Slave fault
Stop Error reset for ATV31 Devices after CANopen I nitialisation.
Man/Auto Automatic Mode (white LED off) / Manual Mode (white LED blinks)
Acknowledge1 E-OFF button 1 and E_OFF button 2
Acknowledge button 2 Light curtain
Acknowledge button 3 Door switch
All Preventa modules send Information to the PLC.
Manual mode provides 3 control buttons for all belts:
Button 1 reverse belt
Button 2 stop belt
Button 3 belt forwards
The illuminated beacon displays the various states. It consists of three indicator lamps.
The green lamp indicates Run. It is permanently lit when the pla nt is operating normally.
The red lamp indicates a Fault. The lamp flashes for emergency-off/safety violations; for
other faults caused by logic- or component-related problems, the light should burn
continuously.
The yellow lamp indicates Manual or HMI mode.
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Plant
Example
Conveyor belt
system
CANopen
Layout
Twido_Altivar_Magelis_OTB_FTB_EN.doc Schneider Electric
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Communication
Introduction
Device Links
Datalink
Drive_1 <> PLC
Data direction ATV -> PLC
%IWC1.0.0 D_STATUS_DRIVE_1 6041 Drivecom status register
%IWC1.0.1 D_CONTROL_DRIVE_1 6044 Control effort
%IWC1.0.2 D_IERROR_DRIVE_1 603F Error Code
%QWC1.0.0 D_COMMAND_DRIVE_1 6040 Drivecom command
%QWC1.0.1 D_TARGET_DRIVE_1 6042 Target velocity
This lists the individual points between which data is exchanged via the bus
systems (e.g., CANopen, Modbus Plus or TCP/IP) that are not directly linked to
digital or analog hardware interfaces.
This list contains:
The devices concerned in each case
The direction of transfer
The symbolic name and
The direct bus address on the device concerned.
The Modbus and CANopen bus systems are used in this application.
The devices below are networked via CANopen:
- a Twido PLC, bus address 127 (fixed setting)
- four Altivar variable speed drives, bus addresses 1..4
- four FTBs, bus addresses 5..8
- four OTBs, bus addresses 9..12
Only two devices are interconnected via Modbus:
- Magelis-Panel XBT-G, bus address 1
- Twido PLC, bus address 2
Twido PLC
(CANopen ma ster, #127)
Address Name Index Designation
Data direction PLC -> ATV
Address Name Index Designation
Altivar 31, Drive_1
(CANopen slave #1)
register
Datalink
Drive_2 <> PLC
Data direction ATV -> PLC
%IWC1.1.0 D_STATUS_DRIVE_2 6041 Drivecom status register
%IWC1.1.1 D_CONTROL_DRIVE_2 6044 Control effort
%IWC1.1.2 D_IERROR_DRIVE_2 603F Error Code
%QWC1.1.0 D_COMMAND_DRIVE_2 6040 Drivecom command
%QWC1.1.1 D_TARGET_DRIVE_2 6042 Target velocity
Twido_Altivar_Magelis_OTB_FTB_EN.doc Schneider Electric
Address Name Index Designation
Address Name Index Designation
(CANopen master, #127)
Twido PLC
Altivar 31, Drive_2
(CANopen slave #2)
Data direction PLC -> ATV
register
32
Datalink
Drive_3 <> PLC
(CANopen master, #127)
Twido PLC
Altivar 31, Drive_3
(CANopen sla ve #3)
Data direction ATV -> PLC
Address Name Index Designation
%IWC1.2.0 D_STATUS_DRIVE_3 6041 Drivecom status register
%IWC1.2.1 D_CONTROL_DRIVE_3 6044 Control effort
%IWC1.2.2 D_IERROR_DRIVE_3 603F Error Code
Address Name Index Designation
%QWC1.2.0
D_COMMAND_DRIVE_3
Data direction PLC -> ATV
6040 Drivecom command register
%QWC1.2.1 D_TARGET_DRIVE_3 6042 Target velocity
Datalink
Drive_4 <> PLC
(CANopen ma ster, #127)
Twido PLC
Altivar 31, Drive_1
(CANopen slave #4)
Data direction ATV -> PLC
Address Name Index Designation
%IWC1.3.0 D_STATUS_DRIVE_4 6041 Drivecom status register
%IWC1.3.1 D_CONTROL_DRIVE_4 6044 Control effort
%IWC1.3.2 D_IERROR_DRIVE_4 603F Error Code
Address Name Index Designation
%QWC1.3.0 D_COMMAND_DRIVE_
Data direction PLC -> ATV
6040 Drivecom command register
4
%QWC1.3.1 D_TARGET_DRIVE_4 6042 Target velocity
Datalink Twido PLC (CANopen master, #127) FTB1 (CANopen slave #5) FTB1 <> PLC Data direction FTB -> PLC Address Name Index Designation %IWC1.4.0 FTB_IN_1 6000 Digital Input 8 Bits
Address Name Index Designation
Data direction PLC -> FTB
%QWC1.4.0 Test_FTB1 6200 Write Outputs 1 to 8
Datalink Twido PLC (CANopen master, #127) FTB2 (CANopen slave #6) FTB2 <> PLC Data direction FTB -> PLC Address Name Index Designation %IWC1.5.0 FTB _IN_2 6000 Digital Input 8 Bits
Address Name Index Designation
Data direction PLC -> FTB
%QWC1.5.0 Test_FTB2 6200 Write Outputs 1 to 8
Datalink Twido PLC (CANopen master, #127) FTB3 (CANopen slave #7) FTB2 <> PLC Data direction FTB -> PLC Address Name Index Designation %IWC1.6.0 FTB _IN_3 6000 Digital Input 8 Bits
Address Name Index Designation
Data direction PLC -> FTB
%QWC1.6.0 Test_FTB3 6200 Write Outputs 1 to 8
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Datalink Twido PLC (CANopen master, #127) FTB4 (CANopen slave #8) FTB4 <> PLC Data direction FTB -> PLC Address Name Index Designation %IWC1.7.0 FTB _IN_4 6000 Digital Input 8 Bits
Address Name Index Designation
Data direction PLC -> FTB
%QWC1.7.0 Test_FTB4 6200 Write Outputs 1 to 8
Datalink Twido PLC (CANopen master, #127) OTB1 (CANopen slave #9) OTB1 <> PLC Data direction OTB -> PLC Address Name Index Designation
%IWC1.8.0 OTB1 _IN_00_07 6000 Digital Input 0 to 7
%IWC1.8.1 OTB1 _IN_08_11 6000 Digital Input 8 to 11
Address Name Index Designation
Data direction PLC -> OTB
%QWC1.8.0 OTB1_OUT_00_07 6200 Write Outputs 0 to 7
Datalink Twido PLC (CANopen master, #127) OTB2 (CA Nopen slave #10) OTB2 <> PLC Data direction OTB -> PLC Address Name Index Designation
%IWC1.9.0 OTB2 _IN_00_07 6000 Digital Input 0 to 7
%IWC1.9.1 OTB2 _IN_08_11 6000 Digital Input 8 to 11
Address Name Index Designation
Data direction PLC -> OTB
%QWC1.9.0 OTB2_OUT_00_07 6200 Write Outputs 0 to 7
Datalink Twido PLC (CANopen master, #127) OTB3 (CA Nopen slave #11) OTB3 <> PLC Data direction OTB -> PLC Address Name Index Designation
%IWC1.10.0 OTB3 _IN_00_07 6000 Digital Input 0 to 7
%IWC1.10.1 OTB3 _IN_08_11 6000 Digital Input 8 to 11
Address Name Index Designation
Data direction PLC -> OTB
%QWC1.10.0 OTB3_OUT_00_07 6200 Write Outputs 0 t o 7
Datalink Twido PLC (CANopen master, #127) OTB4 (CA Nopen slave #12) OTB4 <> PLC Data direction OTB -> PLC Address Name Index Designation
%IWC1.11.0 OTB4 _IN_00_07 6000 Digital Input 0 to 7
%IWC1.11.1 OTB4 _IN_08_11 6000 Digital Input 8 to 11
Address Name Index Designation
Data direction PLC -> OTB
%QWC1.11.0 OTB4_OUT_00_07 6200 Write Outputs 0 to 7
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Datalink Twido PLC (Modbus #2) HMI Magelis XBT-G (Modbus #1) HMI -> PLC Data direction HMI -> PLC Address Name Address Designation
%M101 M_AUTO %M102 Automatic mode
%M106 HMI_resetcanopen %M106 Reset CANopen Master
%M107 HMI_resetaltivar %M107 Reset Altivar31
%M121 M_HAND %M122 Manual mode
%M131 M_HMI %M131 HMI mode
%M200 Mhmi_D1_FWD %M200 Drive 1 Forward HMI
%M201 Mhmi_D1_REV %M201 Drive 1 Reverse HMI
%M202 Mhmi_D1_STOP %M202 Drive 1 Stop HMI
%M205 Mhmi_D2_FWD %M205 Drive 2 Forward HMI
%M206 Mhmi_D2_RE V %M206 Drive 2 Reverse HMI
%M207 Mhmi_D2_STOP %M207 Drive 2 Stop HMI
%M210 Mhmi_D3_FWD %M210 Drive 3 Forward HMI
%M211 Mhmi_D3_RE V %M211 Drive 3 Reverse HMI
%M212 Mhmi_D3_STOP %M212 Drive 3 Stop HMI
%M215 Mhmi_D4_FWD %M215 Drive 4 Forward HMI
%M216 Mhmi_D4_RE V %M216 Drive 4 Reverse HMI
%M217 Mhmi_D4_STOP %M217 Drive 4 Stop HMI
%M220 Mhmi_D5_FWD %M220 Drive 5 Forward HMI
%M221 Mhmi_D5_RE V %M221 Drive 5 Reverse HMI
%M222 Mhmi_D5_STOP %M222 Drive 5 Stop HMI
%M225 Mhmi_D6_FWD %M225 Drive 6 Forward HMI
%M226 Mhmi_D6_RE V %M226 Drive 6 Reverse HMI
%M227 Mhmi_D6_STOP %M227 Drive 6 Stop HMI
%MW15 Manu_Velo_1 %MW15 Drive 1 Target Value
%MW16 Manu_Velo_2 %MW16 Drive 2 Target Value
%MW17 Manu_Velo_3 %MW17 Drive 3 Target Value
%MW18 Manu_Velo_4 %MW18 Drive 4 Target Value
%MW230 CAN_Failure_Slaves %MW17 Failure bit for every Slave
%MW232 CAN_Failure_BUS %MW18 Failure bit for the BUS
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Datalink Twido PLC (Modbus #2) HMI Magelis XBT-G (Modbus #1) PLC -> HMI Data direction PLC -> HMI Address Name Address Designation
%M101 M_auto %M101 Automatic Mode
%M102 HMI_estop1 %M102 E-off 1 pressed
%M103 HMI_lightcurrtain %M103 Light curtain active
%M104 HMI_door %M104 Door Protection Triggered
%M105 HMI_estop2 %M105 E-off 2 pressed
%M140 M_no_error_drive1 %M140 Drive1 o.k.
%M141 M_no_error_drive2 %M141 Drive2 o.k.
%M142 M_no_error_drive3 %M140 Drive3 o.k.
%M143 M_no_error_drive4 %M140 Drive4 o.k.
%M144 M_no_error_drive5 %M140 Drive5 o.k.
%M145 M_no_error_drive6 %M140 Drive6 o.k.
%MW15 Manu_Velo_1 %MW15 Drive 1 Target Value
%MW16 Manu_Velo_2 %MW16 Drive 2 Target Value
%MW17 Manu_Velo_3 %MW17 Drive 3 Target Value
%MW18 Manu_Velo_4 %MW18 Drive 4 Target Value
%MW204 B1Actual %MW204 Drive 1 Actual Value
%MW205 B2Actual %MW205 Drive 2 Actual Value
%MW206 B3Actual %MW206 Drive 3 Actual Value
%MW207 B4Actual %MW207 Drive 4 Actual Value
%MW230 CAN_Failure_Slaves %MW230 Failure bit for every Slave
%MW232 CAN_Failure_BUS %MW232 Failure bit for the BUS
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General Addressing
Various hardware addresses, as well as flags and flag words, are used in the PLC
example program. To facilitate orientation, an overview of the addresses used appears
below in list format.
Type Address Comment
Digital inputs %Ir.m.x Digital inputs are specified on a hardware basis:
r indicates the rack numb er, m the slot and x the
input number.
Example: Emergency-off feedback %I0.3.0.
Digital outputs %Qr.m.x Digital outputs are specified on a hardware basis:
r indicates the rack numb er, m the slot and x the
output number.
Example: Indicator lamp for manual mode
%Q0.5.1.
Analog inputs %IWr.m.c Analog inputs are specified on a hardware basis:
r indicates the rack numb er, m the slot and c the
channel number.
Example: Emergency-off feedback %IW0.3.0.
Analog outputs %QWr.m.c Analog outputs are specified on a hardware basis:
r indicates the rack number, m the slot and c the
channel number.
Example: Emergency-off feedback %QW0.3.0.
CANopen inputs %MW0 to
%MW31
CANopen outputs %MW100
to
%MW131
Data for Viewer %MW200
to
%MW299
Data from Viewer %MW300
to
%MW399
CANopen status %CHr.m.c Status data for CANopen is read via data
CANopen inputs are written to flag words;
individ ual bits can be addressed via %MWi.x.
Example: 2. ATV status word %MW2
CANopen outputs are read by flag words;
individ ual bits can be addressed via %MWi.x.
Example: 3. ATV control word %MW104
Data for Viewer is written to flag words. Individual
bits are written v ia block BIT_TO_WORD.
Example: Motor velocity %MW220
Data from Viewer is read by flag words. Individual
bits are extracted via block WORD_TO_BIT.
Example: Motor velocity %MW220
structure T_COM_CPP110 (IODDT). Channel
address: r indicates the rack number, m the slot
and c the channel number.
Example: CANopen status %CH0.1.1
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HMI
Introduction
Preconditions
This application features a Magelis XBT-GT1100 HMI device, which is connected to the
PLC via Modbus protocol.
Vijeo Designer software is used to program and configure the terminal. The following
pages describe how to create and upload a program.
Proceed as follows to integrate the HMI:
Create a New Project
Install the Correct Driver
Configure the Programming Connection
Configure the driver
Linking Variables
Create a Variable
Import Project
Creating Screens – examples
Build the Project
Download the Project
In order to work with Vijeo Designer you must first:
Install Vijeo-Designer V4.4 on your PC.
chaeck that the Magelis terminal is connected to a power supply and turned on
Connect the Magelis terminal to the PC using the data cable XBTZG925 (USB).
Vijeo Designer
Layout
1 The Vijeo Designer
environment consists of
the following elements:
1 - Navigator
2 - Info display
3 - Inspector
4 - Data list
5 - Feedback zone
6 - Toolbox
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Create a new
Project
1 Start up Vijeo Designer and
select
Create new Project.
You will be automatically
guided through the
subsequent steps.
continue with Next>.
2 Now enter the project name
for the application, e.g.,
“DCO Example”.
A more detailed description
can be added in the
Description or Comment
box.
No accented characters or
umlauts (ö, ü, ä, etc.) are
permitted.
Continue with Next>.
3 Select the target device to
be used. Your target name
can be any name you wish.
Target Name:
Exampleproject
Target Type:
XBT–GT1000
Series
XBTG Model:
XBT-GT1100
Continue with Next>
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39
4 The selected device has no
Ethernet port, so you can go
to the next screen using
Next>.
5 In order to be able to
exchange data with the PLC,
the Magelis terminal requires
a communication driver.
In the Create New Project
dialog, select:
Add
to go to the New Driver
dialog.
Install the
correct driver
In the New Driver dialog
6
select:
Schneider Electric
Industries SAS
in the manufacturer‘s list.
Now transfer the Modbus
(RTU) driver to the
Equipment list as Modbus
Equipment for
communication with the
Twido PLC.
Confirm the settings with
OK.
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7 Once you have added the
driver, exit the driver
configuration process with
Finish.
Vijeo Designer now returns
8
you to its work top, with an
empty display and the
project navigator
A single mouseclick on
Target1 in the navigator
lists the properties of target1
in properties inspector
(or if the properties
inspector is closed, a right
mouseclick on Target1 and
selecting Properties in the
pop-up menu, opens up the
properties inspector)
Configure the
Programming
Connection
First check the setup for the
1
USB programming cable
XBTZG925.
Check the properties of the
project and in particular the
properties of the COM port.
As default it is set to serial
and COM1.
As we are using a USB
cable the connection must
be changed.
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41
2 First check in the Windows
Device Manager which
COM port is used for the
USB connection.
Here COM4 is used.
3
Configure the
driver
In Vijeo Designer select the
COM to match the Windows
setup, in this case COM4,
and input it as the COM
port.
Leave the connection type
as it is, Serial.
For the communications to
1
work you must set up the
parameters in the Modbus
RTU-Driver.
For this, right mouseclick on
ModbusRTU01 in the
Navigator
and select
Configuration...
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42
In the Driver Configuration
2
dialog,
input:
- 19200 Baud
- 8 Data bits
- 1 Stop bit
- No Parity
Note: The configuration
must match the port
definition on the Twido.
Exit the dialog with OK.
In the Navigator you can
3
rename the configuration to
PLC with a right mouseclick
on the name and selecting
Rename.
Rightmouse click on PLC to
4
go to the device configuration.
In this configuration the HMI
is slave, the PLC is master.
In the Equipment
5
Configuration dialog set the
Slave Equipment Address to
2. and set the checkbox for
IEC61131 Syntax
you can leave the other
inputs at their default values.
Exit with OK.
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Linking
Variables
Acknowledge the confirm-
6
ation for the IEC61131
Syntax with YES.
As the variables have already
1
been input in TwidoSuite (or
some other Schneider
product) . Vijeo-Designer
offers an option to link up to
these variables.
Select the Variables tab in
the the Navigator.
Right mouse click on the
project name (here
TARGET1) and select
Link Variables…
in the pop-up menu
In the Link Variables window
2
give the path to the file, the
type of file and the
Equipment type (here as
named above PLC)
Select the file and click on
Open.
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In this example the path was
3
set to the TwidoSoft directory,
the file type set to TwidoSoft
and the Equipment set to
PLC.
Then a Twido file (*.twd) was
selected and opened.
Once the file was successfully
4
opened you will be offered a
selection list of the available
variables
Twido_Altivar_Magelis_OTB_FTB_EN.doc Schneider Electric
45
Mark the variables you wish to
5
link to and click on Add.
Linked variables are now de-
6
activated with grey text.
If you have finished linking the
variables you require, exit the
dialog with a click on Close.
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All variables can now be
7
viewed in the navigator on
the Variables tab.
Creating a
variable
To create variables, click on
1
the Tab Variable in t he
navigator.
A right mouse click on
Target1 opens up the pop-up
menu
Click on :
New Variable -> New…
followed by the datatype
required to go to variable
definition dialog.
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To create a variable you must
2
input a:
Variable name
Data type
Data Source (External)
Address in the PLC
In the variable properties
dialog you can enter the
name and a description for
the variable
Important here is what device
delivers the value if it comes
from an external system.
If this is the case you must
enter a ScanGroup and a
Device Address.
The device address is not the
hardware address. It is the
memory address in the device
that delivers the value.
To select a device address
click on the button at the right
end of the list box.
Device Address:
Here you can address bits
(%M..), memory words
(%MW..) in the PLC.
clicking on the Device
3
Address opens up a dialog
for the input of the address.
PLC internal formats such as
counters muss first be
transferred to memory words
before the Magelis can
display them.
Integers and Reals :
30001 + i and
40001 + I
Discretes:
00001 + i and
10001 + i and
30001 + i, j and
40001 + i, j
where „i“ represents the bit
number or word num ber i.e.
you address them with the
appropriate offset.
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48
4
Examples:
PLC %M106
HMI 00001 + 106
=> 00107
PLC %MW207
HMI 40001 + 207
=> 40208
PLC %MW100 Bit5
HMI 40001 + 100, 5
40101,05
The image shows the variable
Test with its attributes listed
in the Property Inspector.
Import
Project
1
To import a project select the
Vijeo-Manager tab in the
Navigator. Right mouse click
on Vijeo-Manager in the tab
window opens a pop-up
menu.
select Import Project..
If the function is de-activated
(greyed) close any open
projects first and re-try.
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49
2
3
4 In the Navigator you can now
Enter the path to search in,
the file type (*.VDZ) and select
a project file from the list
offered.
Import the project by clicking
on Open.
When the import is finished,
acknowledge with OK.
see the project listed. Double
click on it to open it.
Creating
Screens
Examples
Twido_Altivar_Magelis_OTB_FTB_EN.doc Schneider Electric
Example: Insert Text
1
Select the text tool in the tool
bar.
The toolbar displays the
toolbox with tools for editing
the display.
50
Example: Create Text
2
With the text tool, position t he
text box on the display. You
can adjust its size by „pulling“
on the box or by givin g a
value in the text editor dialog.
Double click on the text box to
open up the text editor dialog
you can input the text to be
displayed and define its size,
font, etc.
After inputting the text you can
3
define/change the text
characteristics in the Property
Inspector
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51
A right mouse click on the text
4
object in the display leads to
the animation.
This is the same animation as
seen in the property inspector
(see image above) but in
another format. Both formats
contain the same attributes.
Animation Properties:
5
Colour
Position
Value
Visibility
For the variable used to
animate this object, you can
either manually input the
variable or click on the
lightbulb icon to browse the
variable list and select a
variable.
If you input an unknown
variable it is shown in red –
the variable has yet to be
defined
Once activated variables can
be selected and their display
format defined.
If the value requires further
processing before use, such
as trigonomic functions, you
can select these via the
calculator icon.
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52
Text and Graphics examples.
6
This picture shows one the
7
finished configuration screens
with some animations and
buttons
Build the
project
Before you download the
1
project to the Magelis you
must validate it .
With Validate All you can
analyse your project.
The Feedback Zone shows
you the results of the analysis.
You can invoke the project
analysis using Build All too.
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53
Download
the Project
Before you can download the
1
project you must build the
project (see the section
above)
Downloading the project to the
Magelis (HMI):
Select the project in the
Navigator.
Use Build->Download All to
transfer the project to the HMI
device.
The transfer is done using the
configured protocol (modbus
in this case).
The download process is
indicated with a progress bar.
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54
Introduction
Pre-conditions
Start ing
Twidosuite
PLC
The PLC chapter describes how to initialize, parameterize and load the program to the
PLC in order to implement the functional description described above.
The PLC program is created using TwidoSuite.
Before carrying out the steps described below, you must ensure the following:
The TwidoSuite programming tool is installed on your PC
The TwidoSuite example project is available
The Twido PLC is switched on and supplied with power
The PLC is connected to the PC with programming cable (TSXPCX1031)
1
To start work with
Twidosuite, click on:
Programming Mode
Use the language
selection buttons to set
the language for this
session.
2
The start up screen for
the main menu is
displayed.
With
Create a new project
you can start a new
project.
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55
Create a new
Project
1 Once Create a new
Project is selected, enter
a Project name and
select the Directory path
to save it.
You can enter Project
Information if required
but it is not mandatory.
Confirm with Create.
Select the
1 Now go to Describe to
Hardware
2
configure the hardware.
In the configuration
Workspace you will see
a Twido PLC.
In the Catalog on the
RHS you can select the
hardware/modules you
wish to configure
The Workspace offers
you graphical documentation.
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56
3 In the Catalog, first
select the correct type of
Twido
TWDLMDA20DRT.
4
Use Drag&Drop to drag
the selection to the
graphical image of the
Twido.
The grahical image will
change to green.
Drop the selected Twido
while the mouse icon is in
the green field.
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57
5
6
As next module select the
CANopen Master
TWDNCO1M.
Use Drag&Drop to place
it to the right of the Twido
PLC in the graphical
image.
Now add the extra digital
inputs module
TWDDDI18DT
Again, using drag&drop
place it next to the
CANopen Master.
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58
7 Now add the Magelis
Terminal
XBTGT1100
For this add the general
Magelis Modbus element
to the configuration.
8
9
The Workspace now
shows a graphic display
of the configured
modules/devices.
The connection HMI/PLC,
via the Modbus interface,
has still to be done.
To confgure the HMI
connection, move the
mouse icon over the HMI
until the mouse icon
changes to a
screwdriver. Now a
doubleclick opens up the
configuration dialog.
Give the device a Name
and check that the defaul t
Protocol Modbus at
Address 1 is offered.
Confirm with OK.
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59
10
11
12
Name and Modbus
address now appear in
the graphic display next
to the HMI device.
Now do the same for the
PLC modbus interface.
Position the mouse icon
on the modbus interface
of the PLC. When the
mouse icon changes to a
screwdriver, doubleclick
to open up the configuration dialog.
Change the Protocol type
to Modbus and set the
Address to 2.
Confirm with OK.
Now connect the two
devices in the graphics
display by linking the
white crosses that
reperesent t he linking
points.
To do this click on the
white cross of one device
and then the next so that
the link is displayed.
13
After linking the devices
you can give the network
a name and set the baud
rate by double clicking on
the connecting line or the
network box.
In this case we use the
default values.
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60
Hardware
Configuration
1
For the hardware
configuration select the
main menu Program.
2
Twido SPS
1
The screen shows the
PLC rack.
Note the menus on the
RHS and bottom of the
display area.
Menus on the RHS are
sub-menus to the main
menu along the top.
You can now configure
all the I/O variables for
the PLC.
To name the variables
click on the Symbol
column for a particular
I/O and input the new
name.
2
Twido_Altivar_Magelis_OTB_FTB_EN.doc Schneider Electric
Spaces and special
characters are not
allowed in symbol
names.
If the variable is already
in use in the program,
the check box to the
LHS is activated.
61
3
4
5
All symbol names are
shown in uppercase.
Changes are only made
when the Apply button
is pressed.
If you try to exit the
dialog without pressing
Apply, you will be
reminded.
Symbols entered in the
configuration are
automatically inserted
into the variable list.
1
CANopen Master
The next step is to
configure the CANopen
Master.
Click on the CANopen
module in the graphics
image.
2 Click on Configure in the
module configuration.
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3 The CANopen
Configuration Tool
appears.
4 If there is no entry in the
catalogue for Advantys
FTB or Advantys OTB,
the SPA files have not
been imported. The files
are installed with
Twidosuite.
To import the files, click
on the import/export
function (arrow icon,top
left) to go to the standard
Windows Open dialog
In the open dialog set the
5
path to the required SPA
(Schneider Product
Archive) files:
File type : *.SPA
Path: Twidosuite
6 Once the SPA files are
imported they appear in
the list under DS-401 .
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63
7
8
9
Use the import function to
import the EDS Files
(Electronic Data She et)
for the components.
Here :
FTB_CN08E08SPO.eds
(See the example project)
The import displays a
progress bar.
do the same for
OTB_1CODM9LP.eds.
10
After a successful import
the components are listed
as DS-401 I/O Modules.
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64
11
12
13
The configuration files for
the Alti var 31 drives are
already installed.
For our example the first
four slaves are used by
the Alti vars. To insert an
Altivar as slave, double
click on the Altivar entry
in the catalogue.
Use the arrow icons to
move the entries up/down
in the list.
Slaves 5-8 are the FTB
modules.
.
14
15
Ther OTB Modules are
Slaves 9-12.
Set the baudrate for the
CANopen bus to:
500Kbit/s
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65
16 Double click on the
Supervision column for
each slave and set the
supervsion type to
heartbeat
(the default is normally
set to None)
17 In the Mapping tab you
can edit the Transmit
and Receive PDOs.
18 Note:
You do not need to
change the PDOs. If you
do however, bear in mind
that the SDO memory
requirement changes.
The maximum SDO
memory is fixed in the
PLC and cannot be
exceeded.
19 Use the tab Linking to
select the PDOs that are
to be transferred.
You must do this for both
the transmit and receive
direction.
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20 Under receive AND
transmit, doubleclick on
the PDO to move it from
the slave to the master
PDO.
Note : all PDOs that are
used must be moved.
Normally you would move
all PDOs. Those not
moved are redundant
21 Us the Symbol tab give
your I/O variables names.
The Altivar 31 variables
have standard names but
can still be changed.
22
23
Variables without names
do not appear in the
variable list. For ease of
programming it is
preferable to give the
variables names.
To save the configuration
click on Apply then exit
the dialog with OK.
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27
Digital
1
Input-Modul
TwidoSuite now displays
a table with all the
configured CANopen
slaves.
Click on the the digital
input module in the
graphic.
The list of Inputs appears
for the module.
Symbol names can be
input and applied.
The variables are
automatically inserted
into the variable list
Drive Macros
Twido_Altivar_Magelis_OTB_FTB_EN.doc Schneider Electric
1
To use the TwidoSuite
macros for the Altivar
31,
they must first be
configured.
To do this select:
Program->
Configure->
Configure the Data->
Advanced object->
Macros drive
68
2
3
4
5
For legibility, the
macros are given the
same number as the
slave addresses, i.e. 1
– 4.
Select a macro to
configure it by activating
the check box.
Set:
Network: CANopen
Network Address : 1
Reserve the memory
words for the function in
the entry D_Manager.
In the example 30
words are reserved for
macro drive 1, from
MW30 to MW59, by
giving the start address
and the number of
words required
Setting the check box in
the Symbols column
allows the variables to
be included in the
variable list.
6
Click Apply to
implement the drive
configuration.
In the example drives 14 are set up with
MW30, MW60, MW90
and MW120
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69
7
8
Change now to the
main menu Describe
and you will receive a
request to resize the
workspace.
Acknowledge the
message with OK.
TwidoSuite has
increased the
workspace and the
configured drives and
CANopen bus are now
shown in the graphics.
Resizing
1
Workspace
2
You can re-position
objects in the graphi c to
save space and for
better legibility.
Note: if you now print
the image for
documentation
purposes empty fields
are prin ted too.
To delete the empty
fields, change the
workspace format from
3x3 to 1x2.
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Variable List
3 The re-sized
workspace.
1
In the variable list you
can add symbols, give
them a memory
address and input a
comment about them.
3
Create an
2
1 Use the Edit Program
application
Program
To add a symbol click
on the insert icon.
First enter the symbol
name.
Now you can add the
address and a
comment.
Use the different
column headers as sort
criteria to sort the table
in alphabetical order.
function to go to the
program editor.
Starting a new program
always begins with
LADDER as the
programming language.
You can only view the
program in LIST mode
once the first rung has
been completed and
analysed.
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71
2
3
4
5
6
Starting with an empty
program, add a
section. This will create
a section with empty
rungs. The first rung is
marked in red on the
LHS to denote that it
has logical errors.
Click on the top of a
rung to rename it.
You can also rename
the section
Clicking on the rung
changes its colour to
green and indicates the
current rung being
edited. Clicking on an
icon in the toolbar
inserts the selected
object at the first
available place on the
rung.
So, you can add
contacts…
….and outputs, etc.
7
To make a logical
connection, simply mark
the source and pull it to
the destination. All
possible connecting
points are shown in
green
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8
9
10
11 The Analysis is done for
Once a link has been
inserted you can add a
contact to form the
logical OR.
To assign an object to
an address or variable,
click on the upper half
of the object
The editor automatically
recognises whether a
rung is syntactically
complete and marks it
in yellow.
The rung, however,has
not yet been analysed.
The analyze program
button is in the bottom
right hand corner.
all contacts.
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12
13
If the ana lysis is error
free, the yellow band
changes to green.
You can now change
the display mode to
LIST if you wish.
If erros are found, these
are listed at the bottom
of the edit field.
Click on the arrow icon
to enlarge the dis play.
14
15
A common error is
No Start In Run Was
Selected
To fix this, select:
Program->
Configure->
Configure the
behavior
In the Configure the
Behavior dialog select:
Automatic start in Run
This is an operation
mode that causes the
PLC to start up
automatically on return
of power after a power
failure.
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16
After restarting the
analysis the error field
is empty.
Macro Drive
1
To use the macros for
the drives, a second
rung is added using the
add a rung icon.
2 Insert an operation
block for the macro.
3
4
To link the operation
block to the macro drive
input D_manager 1.
D_manager is the
macro function to
access the drive and
the 1 indicates Drive 1.
The space between
D_manager and the 1
is mandatory.
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5
Save / export
1
the project
As the macro is already
configured, the address
field also contains the
symbolic macro name
D_MANAGER 1.
The SHORT seen here
must be exchanged for
a control variable.
You can now repeat this
for the other macros:
D_CLEAR_ERR
D_RUN_FWD
D_RUN_REV
D_STOP und
D_SELECT_SPEED .
To save the project
select Save current
project in the Project
menu.
In the Save current
project window you can
select the folder for the
save, input the file
name and designate the
file Format.
You can save the file as
a normal Project file or
as an Archive file. The
Archive file has the
advantage of being
portable and is a single
file.
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76
Open a Project
1
To open a project use
the Open an existing
project function in the
Project menu.
In the open an existing
project window select
the medium :
disk or Controller
Give the file type under
Format (for a project
file: Project), select the
folder and select the file
you wish to open.
When ready, click on
Open to open the
project
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Import a Project
1 Proceed as for Open a
project (above) except
for import, the file type
is Archive.
Connecting to
1
the PLC
2
To connect the PC to
the PLC select
Program in the main
menu, then Debug in
the sub-menu to get
access to the connect
selection.
You can now either
configure a new
connection (see menu
at bottom of window)
or select a preconfigured connection.
To connect click on OK.
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3
Download a
1
Program
2
3
4
5
you will be shown a
progress bar while
Twidosuite establishes
the connection.
After succesfully
connecting to the
Twido, Twidosuite
compares the status of
the project and t he
Twido PLC.
Now you can either
download your project
or upload the contents
of the PLC.
To download the project
select:
Transfer PC->controlle r
and confirm with OK
If the Twido is already
running it must be
stopped first.
Confirm with OK if you
wish to proceed.
You will be shown a
warning that the
contents of the PLc are
about to be overwritten
confirm with OK to
continue.
The download condition
is indicated with a
process bar.
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6
7
8
9
After a successful
download, Twidosuite
jumps automatically to
the online viewing.
A control panel appears
in the foreground. Here
you can start and stop
the PLC.
The upper button
extends the window,
offering more PLC
status information
If you start the PLC you
will be asked to confirm
the action
If you wish to proceed
with the start click on
OK.
After successfully
starting the PLC the
RUN LED changes from
yellow to green.
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80
10
11
Here the expanded
window with the PLC in
run mode.
If the online status
window is closed, a
click in the upper left
hand corner of the main
window opens it again.
12
The sub-menu
Manage animation
tables allows acces to
animation tables.
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13
Use the project browser
to navigate through the
program sections.
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82
Introduction
General
Setting the
CANopen
Address
Advantys OTB/FTB
The OTB/FTB chapter describes how to address the Advantys OTB and Advantys FTB
devices to fulfill the system functionality as described above.
OTB and FTB addressing are performed in an identical manner on the device using a small
screwdriver.
Since in our example the OTB and FTB devices operate with a CANopen bus which
connects them to the Twido PLC, the addresses lie within the range 1-16.
The CAN open bus can normally manage up to 128 slaves, but since a Twido is used for the
master PLC in this example, only 16 slaves with addresses 1-16 can be used. Other bus
components with higher addresses are neither detected nor addressed.
During the TwidoSoft
1
CANopen configuration
process, an address is
automatically assigned to the
individ ual CANopen bus
components in their order of
installation.
In our example there are four
ATV31 drives on addresses 14, four FTBs on addresses 5-8
and four OTBs on addresses
9-12.
We will use O TB4 with
address 12 to illustrate how to
assign addresses to the
components.
The individual components
are addressed as follows in
the software:
For the first OTB with
CANopen address 9, the input
word is read in the form
%IWC1.8.0.
This means:
%IW = input word
C = CANbus
1 = CANopen master
slot
8 = CANopen address
-1 (9-1=8)
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83
OTB
The OTB address is set using
2
the rotating switches.
The tens range from 0-12
which corresponds to 0-120 in
steps of 1/10.
The units ranges from 0-9.
The baud rate is set using
lower switch.
Use a small screwdriver to
3
adjust the settings.
The slot in the adjuster screw
has an arrow at one end to
indicate the selected address.
Twido_Altivar_Magelis_OTB_FTB_EN.doc Schneider Electric
The first image shows the
4
OTB cover closed.
The second, the three
adjuster switches with the
OTB cover open.
84
In this example, address 12 is
5
set to automatic baud rate
recognition (position 8).
With a utomatic recognition, an
attempt is made on
initialization to synchronize
each baud rate, from the
highest value (1Mbps) to the
lowest.
Note: automatic baudrate
recognition takes longer tha n
manual input.
In the table opposite, the
6
relevant baud rate can be
determined from the lower
adjuster switch.
In the table opposite, the
7
relevant baud rate can be
determined for the baud rate
switch.
In our example, a baud rate of
500 kbps is entered in
TwidoSoft. Either 5 for 500
kbps or 8 for automatic must
therefore be set on the OTBs.
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85
FTB
The FTB is shown here.
1
Point 6 shows the adjuster
screws on the FTB.
The setting area is protected
by an IP67 cover. Before
adjusting the settings, the
cover must first be removed
by loosenin g the two side
screws.
In the table opposite, the
2
relevant baud rate can be
determined for the baud rate
adjuster.
In our example, a baud rate of
500 kbps is entered in
TwidoSoft. Either 7 for 500
kbps or 0 for automatic must
therefore be set on the FTBs.
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86
Selector 1 here shows the
3
baud rate setting .
Selector 2 shows the “tens”
position and selector 3 shows
the “units” position.
Setting is performed as for the
OTB. The table for the baud
rates and the adjuster screw
positions are also identical.
In our example, setting
proceeds from left to right:
- 7 for 500kbits/s baud rate
- 0 for the tenths position
- 5-8 for the four addresses
of our FTBs
Another configuration must be
4
created in the software for the
FTB modules. Particular
output words must be set for
this purpose.
The FTBs have M12
connectors on which pin 4
stands for an input signal.
Pin 2 can then be used for
another sensor (with an
inverted signal!) or for an
alarm prompt.
The graphic opposite shows
5
the configuration necessary
for our four FTBs.
Flag words are used here for
an FTB with CANopen
address 6 (corresponding to
%QWC1.5.0/1) t o simulate
modifications to the
configuration in Run mode.
This configuration can be
retransmitted at any time. The
FTB is initialized only on
reception of a new
configuration.
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Introduction
Preconditions
Starting
Advantys
for OTB
Devices
Advantys OTB
The Advantys OTB chapter describes how to add an OTB in TwidoSuite and how to
create an EDS file.
Before carrying out the steps described below, you must ensure the following:
The TwidoSuite programming tool is installed on your PC
The OTB.spa file must already be in the TwidoSuite configuration
The Advantys tool is installed on your PC
1
In order to start Advantys
from the TwidoSoft program,
select Advantys OTB after
the SPA files ha ve been
loaded.
Click on the icon with the
hammer&spanner to start
the Adva ntys tool for the
OTB
2 In the New Island dialog,
assign a name.
In our example this is:
“OTB_CANopen”.
Confirm with OK.
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88
3
A startup screen is then
displayed.
The middle field is the
configuration area in which
the OTB and its extens ion
modules are created.
All known OTB modules and
extensions appear on the
right-hand side in the
Catalog Browser.
4
Select the CANopen OTB
used in our example,
OTB 1CO DM9LP
5
The OTB now appears as a
graphics picture in the
central area.
Right-click on the image to
open up a pop-up menu
and select:
Configure module.
6
The window for the
OTB 1CO DM9LP
module opens and you are
shown a general summary
on the first page.
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7 The Digital Inputs tab
allows you to define unused
inputs.
To do this, assign a Yes to
the relevant bit (Input 0 = Bit
0, etc.) in the Mask column.
Inputs marked Yes will not
now be acquired.
In our example, all inputs
must be marked No.
8
This is also the case for
Digital Outputs.
No modifications are
required to any of the other
tabs.
Confirm with OK.
9
To save the configuration
and create a portable
EDS file, click on the icon
with the floppy disk.
THe EDS file is saved to the
EDS folder of the Advantys
software.
10
Now close the Advantys
window using the system
exit.
You are automatically
prompted to save the
changes.
confirm with Yes.
11
The installation/save
progress bar appears.
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11
Following the configuration
process, the CANopen
Configuration Tool re-
appears.
The OTB file that you have
created now appears in the
Advantys OTB (V1.0) entry.
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Introduction
Preconditions
Advantys FTB
The Advantys FTB chapter describes how to configure the procedures required to
add an FTB to the TwidoSoft.
Before carrying out the steps described below, you must ensure the following:
The TwidoSuite programming tool is installed on your PC
The FTB.spa file must already be in the TwidoSuite configuration
The Advantys tool is installed on your PC
Adding an
FTB Island to
Twidosuite
1
In order to start Advantys
from the TwidoSoft program,
select Advantys FTB after
the “*.spa” files ha ve been
loaded.
Click on the icon with the
hammer&spanner to start
the Adva ntys tool for the
FTB.
2 In the New Island dialog,
assign a name.
In our example this is
FTB_CANopen.
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3
A startup screen is then
displayed.
The middle field is the
configuration area in which
the OTB and its extens ion
modules are created.
All known OTB modules and
extensions appear in the
catalog browser on the
right hand side.
4
Select the CANopen FTB
used in our example
FTB1CN08E08SPO
5
The FTB now appears as a
graphic image in the cen tral
area.
Right-click on the image and
in the pop-up menu, select
Configure module
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6
The dialog for the
FTB1CN08E08SPO module
opens and displays a
general summary on the first
page.
7 The Digital tab allows you to
mask unused inputs.
To do this, assign a Yes to
the relevant channel in the
Mask list.
Inputs with a Yes will not be
acquired.
In our example, all inputs
must remain at No.
In addition, you can
determine here whether the
eight inputs definable with
FTB1CN08E08SPO should
be used as inputs or as
diagnostics.
8
To save the configuration,
simply press the button with
the floppy disk icon.
Now close the window using
the system exit.
9
You are now prompted to
save the changes to
“FTB_CANopen”.
Confirm with Yes and the
installation progress bar
appears.
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10
Following the configuration
process, the CANopen
Configuration Tool reappears.
The FTB file
“FTB_CANopen” that you
have created now appears in
the Adva ntys FTB (V1.0)
directory.
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Introduction
General
Pow erSuite
with ATV31
Altivar 31
The ATV31 Devices chapter describes how to initialize and parameterize the Altivar ATV31
devices in order to fulfill the system functionality described above.
PowerSuite software is used to initialize and parameterize the devices.
The ATV31 parameters can also be entered or modified via the front panel. The advantages
of using PowerSuite are that you
Can save the data on your PC and copy it as you wish
Can print out the documentation and
Can be assisted in optimizing the parameters online.
The Parameters can be configured with the Powersuite configuration software.
Here, the configuration was done using Powersuite V2.3
After starting Powersuite,
1
select the entry
Example- folder
Via the menu
2
ActionConnect
try to connect to the device.
Note: make sure the device is
connected with thye proper
cable.
It will be confirme d that you
3
are trying to connect to a new
device.
Click on Create to continue.
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In the New name dialog give
4
the configuration for the
device a name.
96
You will see a progress bar as
5
the data is read from the
altivar 31 device.
When the transfer is complete
6
complete, the device data is
displayed.
You can view the parameter in
7
list form or ...
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... in an input mask which can
8
be viewed via:
Adjustments->
Motor control ->
Motor Charakteristics
Enter the Motor data of the
9
type of motors used.
In the entry
10
Communication
enter the CANopenAddress
(for this application 1 to 4) and
select :
Baudrate: 500 kbit/s.
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Save the data..
11
To transfer the new
12
parameters to an individual
device, right mouse click on
the entry for the device and
select:
download
in the pop-up menu.
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Confirm the warning message
13
with OK .
99
Manual Input
using the
Altivar Front
Panel
You can configure the ATV 31 by inputting the parameters us ing the front panel
display and buttons on each Altivar, as follows:
1
The CAN open-Address and
Baudrate can be input using the
buttons on the front panel of the
Altivar.
2
Using the buttons on the front
panel, select the sub-menu
Communication auszuwählen.
3 In the Communication sub-
menu input the CANopen
address in the parameter AdC0.
In the example application the
adresses for the four controlers
are 1 to 4.
4 Also in the Communication
sub-menu, in the parameter
BdC0, set the baudrate to 500.0
(kBits).
5
Alternatively you can use the
PowerSuite software to
configure the CANopen
addresses and baudrates.
To activate the downloaded bus parameters (address and baudrate) you
6
must now switch off the controller (display goes off). On switching back on,
the new parameters are ready.
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