Siemens SIMODRIVE POSMO A Function Manual

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SIMOTION

Supplement to SIMODRIVE POSMO A Positioning Motor

Introduction

Fundamental safety instructions

Function Manual

Description

Function blocks

Application example

Appendix

01/2015

Page 2

Legal information Warning notice system

This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are graded according to the degree of danger.

DANGER

indicates that death or severe personal injury will result if proper precautions are not taken.

WARNING

indicates that death or severe personal injury may result if proper precautions are not taken.

CAUTION

indicates that minor personal injury can result if proper precautions are not taken.

NOTICE indicates that property damage can result if proper precautions are not taken.

If more than one degree of danger is present, the warning notice representing the highest degree of danger will be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property damage.

Qualified Personnel

The product/system described in this documentation may be operated only by personnel qualified for the specific task in accordance with the relevant documentation, in particular its warning notices and safety instructions. Qualified personnel are those who, based on their training and experience, are capable of identifying risks and avoiding potential hazards when working with these products/systems.

Proper use of Siemens products

Note the following:

WARNING

Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems. The permissible ambient conditions must be complied with. The information in the relevant documentation must be observed.

Trademarks

All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.

Disclaimer of Liability

We have reviewed the contents of this publication to ensure consistency with the hardware and software described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this publication is reviewed regularly and any necessary corrections are included in subsequent editions.

Siemens AG Division Digital Factory Postfach 48 48 90026 NÜRNBERG GERMANY

Ⓟ 02/2015 Subject to change

Page 3

Introduction

Contents of the function manual

This document is part of the SIMOTION Programming - References documentation package.

This documentation serves as a supplement to the documentation on SIMODRIVE POSMO A in the

This documentation is included in the SIMOTION SCOUT scope of delivery as electronic documentation!

This manual describes how you can use function blocks to control and assign parameters for a POSMO A drive from a SIMOTION program.

This manual describes differences in handling that arise when controlling and assigning parameters for a POSMO A drive from the SIMOTION system as compared to the SIMATIC system.

Function block

The function blocks for communication between the SIMOTION system and the distributed SIMODRIVE POSMO A positioning motor are part of the program library of the "SIMOTION SCOUT" engineering system.

Distributed Positioning Motor on PROFIBUS DP

user manual.

SIMOTION Documentation

An overview of the SIMOTION documentation can be found in the SIMOTION Documentation Overview document.

This documentation is included as electronic documentation in the scope of delivery of SIMOTION SCOUT. It comprises ten documentation packages.

The following documentation packages are available for SIMOTION V4.4:

● SIMOTION Engineering System Handling

● SIMOTION System and Function Descriptions

● SIMOTION Service and Diagnostics

● SIMOTION IT

● SIMOTION Programming

● SIMOTION Programming - References

● SIMOTION C

● SIMOTION P

● SIMOTION D

● SIMOTION Supplementary Documentation

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Introduction

Hotline and Internet addresses

Additional information

Click the following link to find information on the following topics:

● Ordering documentation / overview of documentation

● Additional links to download documents

● Using documentation online (find and search manuals/information)

http://www.siemens.com/motioncontrol/docu

My Documentation Manager

Click the following link for information on how to compile documentation individually on the basis of Siemens content and how to adapt it for the purpose of your own machine documentation:

http://www.siemens.com/mdm

Training

FAQs

Technical support

Click the following link for information on SITRAIN - Siemens training courses for automation products, systems and solutions:

http://www.siemens.com/sitrain

Frequently Asked Questions can be found in SIMOTION Utilities & Applications, which are included in the scope of delivery of SIMOTION SCOUT, and in the Service&Support pages in Product Support:

http://support.automation.siemens.com

Country-specific telephone numbers for technical support are provided on the Internet under Contact:

http://www.siemens.com/automation/service&support

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Page 5

Introduction...................................................................................................................................................3

1 Fundamental safety instructions...................................................................................................................7

1.1 General safety instructions.......................................................................................................7

1.2 Industrial security.....................................................................................................................7

2 Description....................................................................................................................................................9

2.1 General....................................................................................................................................9

2.2 Installation and startup...........................................................................................................11

2.3 Inserting a SIMODRIVE POSMO A positioning motor into a SIMOTION project...................12

2.4 Integrating the function blocks in the user project..................................................................13

2.5 Creating I/O Variables............................................................................................................14

3 Function blocks...........................................................................................................................................17

3.1 Overview of function blocks...................................................................................................17

3.2 Function block _POSMOA_control.........................................................................................17

3.3 Function block _POSMOA_nControl......................................................................................24

3.4 Function block _POSMOA_rwParameter...............................................................................29

3.5 Function block _POSMOA_rwAllParameter...........................................................................32

3.6 Calling function blocks...........................................................................................................38

4 Application example...................................................................................................................................41

4.1 General information on the application example....................................................................41

4.2 Operator control and monitoring of the application example in the detail view......................43

4.3 Variables used in application example...................................................................................47

A Appendix.....................................................................................................................................................51

A.1 SIMOTION and SIMATIC names...........................................................................................51

A.2 List of abbreviations...............................................................................................................55

Index...........................................................................................................................................................57

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Table of contents

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Fundamental safety instructions

1.1 General safety instructions

WARNING

Risk of death if the safety instructions and remaining risks are not carefully observed

If the safety instructions and residual risks are not observed in the associated hardware documentation, accidents involving severe injuries or death can occur.

● Observe the safety instructions given in the hardware documentation.

● Consider the residual risks for the risk evaluation.

WARNING

Danger to life or malfunctions of the machine as a result of incorrect or changed parameterization

As a result of incorrect or changed parameterization, machines can malfunction, which in turn can lead to injuries or death.

● Protect the parameterization (parameter assignments) against unauthorized access.

● Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY STOP or EMERGENCY OFF).

1.2 Industrial security

Note Industrial security

Siemens provides products and solutions with industrial security functions that support the secure operation of plants, solutions, machines, equipment and/or networks. They are important components in a holistic industrial security concept. With this in mind, Siemens’ products and solutions undergo continuous development. Siemens recommends strongly that you regularly check for product updates.

For the secure operation of Siemens products and solutions, it is necessary to take suitable preventive action (e.g. cell protection concept) and integrate each component into a holistic, state-of-the-art industrial security concept. Third-party products that may be in use should also be considered. For more information about industrial security, visit http://www.siemens.com/ industrialsecurity.

To stay informed about product updates as they occur, sign up for a product-specific newsletter. For more information, visit http://support.automation.siemens.com

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Fundamental safety instructions

1.2 Industrial security

WARNING

Danger as a result of unsafe operating states resulting from software manipulation

Software manipulation (e.g. by viruses, Trojan horses, malware, worms) can cause unsafe operating states to develop in your installation which can lead to death, severe injuries and/ or material damage.

● Keep the software up to date. Information and newsletters can be found at: http://support.automation.siemens.com

● Incorporate the automation and drive components into a state-of-the-art, integrated industrial security concept for the installation or machine. For more detailed information, go to: http://www.siemens.com/industrialsecurity

● Make sure that you include all installed products into the integrated industrial security concept.

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Description

2.1 General

Overview

SIMODRIVE POSMO A is an intelligent distributed positioning drive on the PROFIBUS DP field bus (DP standard slave).

The power unit and all of the motion control are located in the motor.

All of the signals and data for commissioning and operating the drive are transferred via the PROFIBUS DP.

The operating energy is supplied by a 24 VDC connection (for a 75 W motor) or a 48 VDC connection (for a 300 W motor).

The integrated positioning functionality is suitable for a variety of simple single-axis applications, such as adjusting endstops and formats.

Note Hardware and software requirements

The following requirements apply for the functionalities described in this manual:

● Hardware release POSMO A 75 W: As of O

● Software release POSMO A 75 W: As of V3.0

● Hardware release POSMO A 300 W: As of G

● Software release POSMO A 300 W: As of V3.0

POSMO A positioning motors with different hardware and software requirements can be controlled with function blocks integrated in SIMOTION SCOUT V4.1. The functionality is restricted by the hardware/software release of the POSMO A positioning motor used.

Requirement

The following software versions are required for the standard functions described in this documentation:

● SIMOTION SCOUT V4.1 or higher

● SIMOTION Kernel V4.1 or higher

● SIMOTION technology packages V4.1 or higher

Communication

The PROFIBUS DP field bus allows rapid cyclical data exchange between the DP slave (POSMO A) and the higher-level DP master (SIMOTION hardware platform, such as SIMOTION C2xx).

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Description

2.1 General

Further information

Note

For more information, refer to the "Product brief" section of the

on PROFIBUS DP

This documentation is included in the SIMOTION SCOUT scope of delivery as electronic documentation!

Installation and connection

For a description of how to install and connect a SIMODRIVE POSMO A and points you must be aware of when doing so, refer to the "Installation and connection" section of the

Positioning Motor on PROFIBUS DP

On the SIMOTION device (hardware platform), connect SIMODRIVE POSMO A to one of the PROFIBUS DP interfaces.

The following figure shows how to connect a SIMODRIVE POSMO A drive to a SIMOTION hardware platform (such as SIMOTION C2xx).

Distributed Positioning Motor

user manual.

Distributed

user manual.

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Page 11

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Description

2.2 Installation and startup

Overview

Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual, 01/2015 11

Figure 2-1 Connection of SIMODRIVE POSMO A to the SIMOTION C2xx hardware platform

You must perform the following steps to commission the SIMODRIVE POSMO A and control it from the SIMOTION system:

1. Mount and wire the SIMODRIVE POSMO A positioning motor.

2. Set the PROFIBUS DP node address on the connection cover of the SIMODRIVE POSMO A.

3. Switch on the terminating resistor at the first and last bus node.

Note

For steps 1 to 3, refer to

Motor on PROFIBUS DP

Section "Installation and Connection"

user manual.

of the

Distributed Positioning

Page 12

Description

2.3 Inserting a SIMODRIVE POSMO A positioning motor into a SIMOTION project

4. You can use any of the following to commission the SIMODRIVE POSMO A:

– C1 master "SIMODRIVE POSMO A PROFIBUS MASTER"

– Commissioning tool "SimoCom A"

Note

Refer to the

Distributed Positioning Motor on PROFIBUS DP

user manual,

Section

"Commissioning of DP Master".

– "Drive ES" tool. This tool includes "SimoCom A"

Note

Refer to the

5. Insert the SIMODRIVE POSMO A into the SIMOTION project (refer to Section Inserting a SIMODRIVE POSMO A positioning motor into a SIMOTION project (Page 12)).

6. Control the SIMODRIVE POSMO A from the SIMOTION system using function blocks, see Section Function blocks (Page 17).

Note

Refer to the information on the following topics:

● Axis commissioning

● Communication via PROFIBUS DP

● Description of functions

● Error handling and diagnostics

● Assembly and service

Drive ES Basic

Distributed Positioning Motor on PROFIBUS DP

function description.

user manual for more

2.3 Inserting a SIMODRIVE POSMO A positioning motor into a SIMOTION project

Requirement

The following requirements must be met:

1. You have created a project in SIMOTION SCOUT and have inserted a rack with a SIMOTION hardware platform in the hardware configuration.

2. You have configured a PROFIBUS subnet.

Note

For information on creating a project and configuring a PROFIBUS subnet, refer to the online help for SIMOTION SCOUT.

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Inserting SIMODRIVE POSMO A

To integrate the SIMODRIVE POSMO A into the PROFIBUS subnet of your project, proceed as follows:

1. In SIMOTION SCOUT, open the User Projects dialog box with the Project > Open menu

command. In this dialog box, select your project and confirm your choice with OK.

2. Open HW Config (by double-clicking the SIMOTION device in the project navigator of

SIMOTION SCOUT).

3. In the HW Config window, open the hardware catalog with the View > Catalog menu

command.

4. In the hardware catalog, open the PROFIBUS DP folder and the SIMODRIVE subfolder

and select SIMODRIVE POSMO A.

5. Use a drag-and-drop operation to move the SIMODRIVE POSMO A onto the PROFIBUS

subnet of your project. The Properties - PROFIBUS Interface SIMODRIVE POSMO A dialog box is displayed. In this dialog box, you select the address you set in the connection cover of POSMO A (see

Section "Installation and Connection" of the Distributed Positioning Motor on PROFIBUS DP

user manual) and confirm with OK.

The SIMODRIVE POSMO A positioning motor you have selected is inserted into the project.

Description

2.4 Integrating the function blocks in the user project

6. Input and output addresses of the POSMO A.

When you insert the POSMO A into your SIMOTION project, the input and output addresses are assigned default values. You can see these values when you select the inserted POSMO A. You can read the input and output addresses in the lower part of the HW Config window. You must create these addresses as I/O variables in the symbol browser before calling the function blocks; see Section Creating I/O Variables (Page 14).

2.4 Integrating the function blocks in the user project

Creating the instance of the FBs in the user project

The function blocks are part of the program library of the SIMOTION SCOUT engineering system. For working with the blocks, an instance has to be created in the user project for each function block used and if using the _POSMOA_rwAllParameter function block, a variable of type Struct_POSMOA_params.

Example:

VAR_GLOBAL

...

myPosmoAControl : _POSMOA_control; // FB for controlling of POSMO A

myPosmoArwParameter : _POSMOA_rwParameter; // FB for handling single parameter

myPosmoArwAllParameter : _POSMOA_rwAllParameter; // FB for handling parameterset

myAllParaPosmoA : Struct_POSMOA_params; // Variable for structure of all

// parameters POSMO A

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Description

2.5 Creating I/O Variables

...

END_VAR

Call (LAD representation)

The LAD representation of the individual function blocks can be found in the respective function block descriptions.

Example of an application

The application example is contained on the "SIMOTION Utilities & Applications" CD-ROM and is available for various SIMOTION hardware platforms.

The "SIMOTION Utilities & Applications" CD-ROM is provided free of charge and part of the SIMOTION SCOUT scope of delivery.

2.5 Creating I/O Variables

Overview

Communication between the SIMOTION hardware platform and the SIMODRIVE POSMO A takes place through direct access to the I/O. I/O variables are used to address the direct read/ write access to the I/O.

You can freely assign the names of I/O variables in SIMOTION SCOUT. You must define the I/O variables as ARRAY [0..7] and [0..3] of BYTE. You assign the address settings in the hardware configuration to these I/O variables.

The names of the I/O inputs must be transferred to the function blocks as call parameters. The prepared data for the I/O outputs are provided by the function block as in/out parameters. The in/out parameters must be be supplied with variables of type ARRAY [0..7] of BYTE and [0..3] of BYTE. Once the block has been called, these variables must be assigned to the I/O variables for the I/O outputs; see call example in Section Calling function blocks (Page 38).

Note

The variable for supplying the in/out parameters must not be created as a temporary variable (VAR_TEMP or local variable of a function).

The following example shows how to assign the module addresses to the I/O variables in SIMOTION SCOUT.

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Description

2.5 Creating I/O Variables

Figure 2-2 Address assignment in SIMOTION SCOUT

Each input and output address has a range of 8 bytes (which corresponds to the parameter identifier value (PKW) range of POSMO A) and a range of 4 bytes (which corresponds to the process data (PZD) range of POSMO A).

Note

For additional information, refer to:

●

SIMOTION SCOUT

online help

● Programming Manual of the corresponding programming language, e.g.:

–

SIMOTION ST, Structured Text

–

SIMOTION MCC, Motion Control Chart Programming Manual

–

SIMOTION LAD/FBD, Ladder Diagram and Function Block Diagram Programming

Programming Manual

Manual

These documents are shipped with SIMOTION SCOUT in electronic form!

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Description

2.5 Creating I/O Variables

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Function blocks

3.1 Overview of function blocks

This section contains a description of all of the function blocks (FBs) and the data structure you need for communication between a SIMOTION hardware platform and the SIMODRIVE POSMO A.

The function blocks form the software interface between the SIMOTION system and the SIMODRIVE POSMO A positioning motor.

These function blocks make it easier to control and assign parameters for a SIMODRIVE POSMO A positioning motor from the SIMOTION program.

For example, you can assign parameters for a POSMO A without being familiar with PROFIBUS parameter formats and request specifiers.

The function blocks must be called repeatedly (in cycles) from the user program.

The following function blocks are available:

● Function block _POSMOA_control (Page 17)

● Function block _POSMOA_nControl (Page 24) (V4.1 and higher):

● Function block _POSMOA_rwParameter (Page 29)

● Function block _POSMOA_rwAllParameter (Page 32)

Note

For the complete control and communication of the SIMODRIVE POSMO A from the SIMOTION program, an instance must be created for each _POSMOA_rwParameter and _POSMOA_rwAllParameter function block and, depending on the parameterized operating mode (speed or position control mode), an instance of the _POSMOA_control or _POSMOA_nControl function block.

Note

If the SIMODRIVE POSMO A is disconnected and then reconnected to the power system, any MDI traversing block data (see the table titled "Parameters of the _POSMOA_control function block") that had been transferred previously must be transferred to the POSMO A again.

3.2 Function block _POSMOA_control

Task

You can control the connected SIMODRIVE POSMO A with the _POSMOA_control function block.

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Function blocks

3.2 Function block _POSMOA_control

The functions are as follows:

● Initialize Sets the drive in "ready to operate" mode. Requirements:

– A drive fault has not been signaled (driveError = FALSE)

– Fault acknowledgement is not active (resetError = FALSE)

● Referencing Sets the home position for the drive.

● Tippen The drive travels at a controlled speed in a plus or minus direction.

● Program execution Starts, stops, or aborts a single block addressed by blockNumber or a block within the program.

● MDI The drive travels at the assigned speed and acceleration to an assigned position. The MDI parameters are transferred in block 3. The MDI block can be started with blockNumber = 3 and start = TRUE.

● Fault acknowledgement Acknowledges a fault in the drive.

Note

A fault must be acknowledged before the drive can move. This requires that parameter enable = TRUE.

● Automatic single-block operation/automatic control

Checkback signals are as follows:

● Current traversing block

● Data Set Ready

● Warning and fault information

● Complete status (status word and checkback signal byte)

● Data transfer status

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Function blocks

3.2 Function block _POSMOA_control

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Function blocks

3.2 Function block _POSMOA_control

Parameter description

Note

The SIMOTION identifiers have changed as of V4.0.

You can find a comparison of SIMOTION and SIMATIC names in the Appendix SIMOTION and SIMATIC names (Page 51).

The busy parameter must not be overwritten by the user. It is supplied and checked by the function block, and must be supplied with a global variable created by the user only when the respective function block is called. This parameter coordinates the individual function blocks for the POSMO A. This ensures that no more than one function block can access a POSMO A at the same time.

Table 3-1 Parameters of the _POSMOA_control function block

Name P type 1)Data type Default Meaning pkwIn IN ARRAY [0..7]

of BYTE

pzdIn IN ARRAY [0..3]

of BYTE

enable IN BOOL FALSE Sets drive to ready for operation

homing IN BOOL FALSE Sets the home position

releaseBrake

IN BOOL FALSE = TRUE: Release holding brake

jog1 IN BOOL FALSE Selection of jog 1

jog2 IN BOOL FALSE Selection of jog 2

jogOverride

veloOverride

IN INT 20 Speed override of jogging (0 to 100%)

IN INT 20 Velocity override (0 to 100%)

start IN BOOL FALSE = edge FALSE → TRUE: The traversing block specified in

singleBlock

enableRdIn

IN BOOL FALSE = TRUE: Automatic single block. Each block has to be re-

IN BOOL TRUE = TRUE: Read-in enable. Next block is enabled for execution.

8(16#00) Transfer I/O inputs of POSMO A to FB

4(16#00) Transfer I/O inputs of POSMO A to FB

The drive is now ready for operation provided there are no faults.

This signal must be present for at least 50 ms.

= FALSE: Brake sequence control effective

If jog 1 and 2 are set simultaneously, a warning is issued and the drive does not move.

The override can also be changed during travel.

This override can also be changed during travel.

blockNumber is started. Once a block has been selected in blockNumber, the start

parameter cannot be set until the next block call.

started. = FALSE: AUTOMATIC mode

= FALSE: Read-in disable

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Function blocks

3.2 Function block _POSMOA_control

Name P type 1)Data type Default Meaning extBlockChange

noStopIntermediate IN BOOL FALSE = TRUE: No intermediate stop or block in intermediate stop

noStop IN BOOL FALSE = TRUE: No stop

blockNumber IN BYTE 16#00 Traversing block numbers 3 to 27

resetError IN BOOL FALSE Acknowledges fault

setStartInformation IN BYTE 16#00 Start byte

mdiMode

mdiVelocity mdiAcceleration mdiPosition

reqControl

pkwOut IN/OUT ARRAY [0..7]

pzdOut IN/OUT ARRAY [0..3]

busy IN/OUT BOOL - Coordination of the FBs ready OUT BOOL FALSE Drive ready for operation

IN BOOL FALSE = Edge FALSE → TRUE: The active block is interrupted and

the next block is selected. = FALSE: No external block change

is resumed = FALSE: Intermediate stop

Interruption of current travel requeststart is not accepted

= FALSE: Stop Abort of current travel request If start parameter is set at the same time, start is not accepted.

Single block or program blockNumber = 3 → MDI operation

1. Remedy cause of fault.

2. FALSE → TRUE edge

3. Parameter must remain set to TRUE until driveError = FALSE.

Bit combination transmitted to the drive as an additional start requirement.

IN BOOL FALSE = TRUE: MDI relative

The value in the mdiPosition parameter is evaluated relative to the current position

= FALSE: MDI absolute The value in the mdiPosition parameter is evaluated in ab‐ solute terms relative to the drive zero position set by homing.

IN INT 0 Velocity of MDI travel (0 to 100%)

IN INT 0 Acceleration of MDI travel (0 to 100%) IN REAL 0 Target position of MDI travel

Value range: -2 • 105 to 2 • 10

IN BOOL FALSE Control requested by the open-loop control

p701 = 1: Message frame substitution active = TRUE: PROFIBUS data are taken over by the POSMO A = FALSE: Data from the PROFIBUS are frozen; the data last

received are used p701 = 0: Message frame substitution inactive. Behavior as

for POSMO A before software version V3.0

- Prepared FB data for I/O outputs of the POSMO A

of BYTE

- Prepared FB data for I/O outputs of the POSMO A

of BYTE

Logic operation: Status word bits 2 to 0

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Function blocks

3.2 Function block _POSMOA_control

Name P type 1)Data type Default Meaning active OUT BOOL FALSE = TRUE: Axis in motion

dataReady

statusWord OUT WORD 16#0000 Read out of status word actBlockNumber OUT BYTE 16#00 Readout of current block number statusInformation OUT BYTE 16#00 Checkback signal byte

driveWarning OUT BOOL FALSE A drive warning is pending

driveWarnId OUT WORD 16#0000 Reason for the warning

driveWarnInfo

driveError OUT BOOL FALSE A drive error is pending

driveErrorId OUT WORD 16#0000 Reason for the error

error OUT BOOL FALSE = TRUE: Request completed with error

errorID OUT WORD 16#0000 Number of the parameter assignment error signaled by the

Parameter types: IN = input parameter, OUT = output parameter, IN/OUT = in/out parameter

See

This parameter is only transferred when the value of the parameter changes.

As of SIMOTION V4.1, this parameter is part of the _POSMOA_control FB and can only be operated with POSMO A as of software version V3.0.

Distributed Positioning Motor on PROFIBUS DP

OUT BOOL FALSE Several cycles are required for the transfer , for example, of

OUT WORD 16#0000 Warnings or supplementary information, corresponds to

user manual

mdiPosition and jogOverride = TRUE: Data transfer completed (e.g. mdiPosition, jogO‐

verride,...) = FALSE: Data transfer in progress (ramp-up time) or data

transfer not yet started

Bit combination as additional status signal.

(refer to parameter driveWarnId).

Bit format Value corresponds to parameter 953 (warnings)

p954 of the POSMO A

(refer to the driveErrorId parameter)

Bit format Value corresponds to parameter 947 (errors)

(refer to the errorID parameter)

drive (parameter identifier value (PKW) range)

Message frame substitution (POSMO A as of software version V3.0)

For specific applications it is necessary that under no circumstances the drive comes undesirably to a standstill or the drive state can be configured to "freeze" to run-down the master (SIMOTION device).

The "Message frame substitution" function can be activated with the reqControl input parameter using software version V3.0 or higher of the POSMO A, with parameter p701 = TRUE set.

The process data sent by the SIMOTION device are taken over by the POSMO A with reqControl = TRUE. When the transition from TRUE to FALSE occurs on the reqControl input parameter, the POSMO A uses the process data received most recently (control word, block

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Function blocks

3.2 Function block _POSMOA_control

selection and start byte). If parameter P701 = FALSE, the status of the reqControl input parameter is not evaluated.

Note

The "Message frame substitution" function takes immediate effect when p701 = 1.

Make sure that it is possible to shut down the drive at any time using an EMERGENCY STOP.

For additional information, refer to the SIMODRIVE POSMO A user manual,

Positioning Motor on PROFIBUS DP

Task integration (call)

The _POSMOA_control function block must be called cyclically in the BackgroundTask or in the TimerInterruptTask. Calling in the SystemInterruptTask is not permitted. Calling the function block in synchronous tasks (e.g. IPOSynchronousTask) is not recommended for runtime reasons.

Note

The functionality of the _POSMOA_control FB has been expanded with V4.1. To enable you to use the newly implemented functions, you must add the new input parameters when calling the _POSMOA_control FB.

If you want to work with the previous functions (< V4.1), you can leave out the new input parameters with a detailed notation when calling the FB.

Error messages, faults and warnings

The TRUE value at the error output parameter indicates a parameterization error. The errorID output parameter provides more detailed information on the parameterization error that has occurred or has been signaled by POSMO A. Parameterization errors do not need to be acknowledged. Changed parameters (e.g. ramp-up time) can be transferred again.

Distributed

Faults on the POSMO A are signaled in the driveError output parameter with the value TRUE. The reason for the fault can be read out in the driveErrorId output parameter (value corresponds to P947). Drive faults have to be acknowledged and must be reset in the resetError input parameter with the rising edge!

Warnings pending from the POSMO A and the associated information are output in the driveWarning, driveWarnId (value corresponds to P953) and driveWarnInfo (value corresponds to P954) output parameters.

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Function blocks

3.3 Function block _POSMOA_nControl

Task

You can control the connected SIMODRIVE POSMO A in speed-controlled mode with the _POSMOA_nControl function block.

Note

The _POSMOA_nControl function block is contained in SIMOTION SCOUT as of V4.1.

The technology objects (TOs) cannot be used to operate the POSMO A via the speed setpoint interface.

Call (LAD representation)

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Function blocks

3.3 Function block _POSMOA_nControl

Parameter description

Note

Table 3-2 Parameters of the _POSMOA_nControl function block

Name P type 1)Data type Default Meaning pkwIn IN AR‐

RAY[0..7] of BYTE

pzdIn IN AR‐

RAY[0..3] of BYTE

init IN BOOL FALSE = TRUE: Sets the drive to "Ready to start"

enable IN BOOL FALSE = TRUE: Sets the drive to "Ready for operation"

releaseBrake IN BOOL FALSE = TRUE: Release holding brake

accelTime IN DINT 0 Ramp-up/ramp-down time [ms]

releaseRamp IN BOOL FALSE = TRUE: Release ramp-function generator output startRamp IN BOOL FALSE = Edge FALSE → TRUE: Start ramp-function generator setpoint IN INT 0 Speed setpoint releaseSetpoint IN BOOL FALSE Setpoint release

resetError IN BOOL FALSE Acknowledge error

8(16#00) Transfer I/O inputs of POSMO A to _POSMOA_nControl FB

4(16#00) Transfer I/O inputs of POSMO A to FB

STW = 0x040E

The drive is now ready for operation (provided there are no errors).

= FALSE: Brake sequence control effective

During this time, the setpoint is adjusted in speed-controlled mode as follows:

● Ramp-up: From zero to the maximum permissible actual speed

● Ramp-down: From the maximum permissible actual speed to zero

= TRUE: Setpoint released

1. Remedy cause of error

2. FALSE → TRUE edge

3. Parameter must remain set to TRUE until driveError = FALSE.

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Function blocks

3.3 Function block _POSMOA_nControl

Name P type 1)Data type Default Meaning reqControl IN BOOL FALSE Control requested by the open-loop control

p701 = 1: Message frame substitution active = TRUE: PROFIBUS data are taken over by the POSMO A = FALSE: Data from the PROFIBUS are frozen; the most recent data

received are used p701 = 0: Message frame substitution inactive. Behavior as with

POSMO A before software version V3.0 busy IN/OUT BOOL - Coordination of the function blocks pkwOut IN/OUT AR‐

RAY[0..7] of BYTE

pzdOut IN/OUT AR‐

RAY[0..3] of BYTE

ready OUT BOOL FALSE Drive ready for operation,

active OUT BOOL FALSE = TRUE: Drive traveling (n > 0) dataReady OUT BOOL FALSE Several cycles are required for transferring the ramp-up time, for ex‐

statusWord OUT WORD 16#0000 Display of status word actValue OUT DINT 0 Actual speed error OUT BOOL FALSE = TRUE: Request completed with error

errorID OUT WORD 16#0000 Number of the parameter assignment error signaled by the drive

driveError OUT BOOL FALSE Drive error is pending driveErrorId OUT WORD 16#0000 Reason for the error

driveWarning OUT BOOL FALSE A drive warning is pending (refer to parameter driveWarnId). driveWarnId OUT WORD 16#0000 Reason for the warning

driveWarnInfo OUT WORD 16#0000 Supplementary information for warnings (for POSMO A, firmware

Parameter types: IN = input parameter, OUT = output parameter, IN/OUT = in/out parameter

See

Distributed Positioning Motor on PROFIBUS DP

- Prepared FB data for I/O outputs of the POSMO A (parameter iden‐ tifier value interface)

- Prepared FB data for I/O outputs of the POSMO A (process data interface)

AND operation: Status word bit 2, bit 1, bit 0

ample. Completion of the data transfer is indicated by a rising edge. = TRUE: Data transfer finished, data have been transferred = FALSE: Data transfer in progress (e.g. ramp-up time)

(refer to the errorID parameter)

(parameter identifier value (PKW) range)

Bit format Value corresponds to parameter 947 (errors)

Bit format Value corresponds to parameter 953 (warnings)

version 1.4 and higher) Bit format The value corresponds to P954, (supplementary information for

warnings)

user manual

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Function description

The POSMO A is set to the "ready to start" state (control word 0x040E) with the TRUE level on the init input parameter. The "ready to start" state is displayed in the output parameter statusWord, bit 0 = TRUE. When the transition from FALSE to TRUE level occurs at the input parameter enable, the drive is set to "ready for operation". The POSMO A changes to the "ready for operation" state, which can be read out on the output parameter ready = TRUE. Traversing is started when the input parameters enableSetpoint = TRUE, enableRamp = TRUE, (enable ramp-function generator) execRamp = TRUE (start rampfunction generator) with a positive edge, and setpoint > 0.

The order in which the input parameters enable, enableSetpoint, enableRamp, and execRamp are set for starting traversing is at the user's discretion. The input parameters specified above have equal status. Traversing stops when the input parameters enable, enableSetpoint, enableRamp, and execRamp are reset.

Transferring parameters (e.g. ramp-up time - input parameter accelTime) requires several task cycles. If a new value is parameterized at the accelTime input parameter, the output parameter dataReady is set to FALSE. Any pending parameter errors (output parameter error = TRUE) are reset. Data transfer is performed as soon as the in/out parameter busy = FALSE. If data transmission was active when the accelTime input parameter was newly parameterized (e.g. read parameter with _POSMOA_rwParameter FB), data transfer is suspended until busy = FALSE. The value which was parameterized when busy = TRUE changed to busy = FALSE at the input parameter accelTime is transferred. Completion of data transfer is displayed with a rising edge at the output parameter dataReady and stays at TRUE until the next data transfer is started.

Function blocks

3.3 Function block _POSMOA_nControl

Message frame substitution (POSMO A, software version V3.0 and higher)

With certain applications, it is essential that the drive be prevented from coming to an undesirable standstill under all circumstances, or that "freezing" of the drive status can be configured for the purpose of shutting down the master (SIMOTION device).

The "Message frame substitution" function can be activated with the reqControl input parameter as of software version V3.0 of the POSMO A with set parameter p701 = TRUE.

The process data sent by the SIMOTION device are taken over by the POSMO A with reqControl = TRUE. With the transition from TRUE to FALSE on the reqControl input parameter, the POSMO A uses the process data received last (control word, block selection and start byte). If parameter P701 = FALSE, the status of the reqControl input parameter is not evaluated.

Note

The "Message frame substitution" function takes effect immediately with p701 = 1!

Make sure that the drive can be shut down at any time by an EMERGENCY STOP.

For more information, refer to the SIMODRIVE POSMO A user manual,

Motor on PROFIBUS DP

Distributed Positioning

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Function blocks

3.3 Function block _POSMOA_nControl

Graphical overview of the functionality

Figure 3-1 Signal propagation diagram

Task integration (call)

The _POSMOA_nControl function block must be called cyclically in the BackgroundTask or in the TimerInterruptTask. Calling in the SystemInterruptTask is not permitted. Calling the function block in synchronous tasks (e.g. IPOSynchronousTask) is not recommended for

28 Function Manual, 01/2015

runtime reasons.

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Page 29

3.4 Function block _POSMOA_rwParameter

Error messages, errors, and warnings

The TRUE value at the error output parameter indicates a parameterization error. The errorID output parameter provides more detailed information on the parameterization error that has occurred. Parameterization errors do not need to be acknowledged. Parameters that have been changed (e.g. ramp-up time) can be transferred again.

Errors in the POSMO A are signaled in the driveError output parameter with the value TRUE. The reason for the error can be read out in the driveErrorId output parameter (value corresponds to P947). Drive errors have to be acknowledged and must be reset in the resetError input parameter with a rising edge.

Warnings from the POSMO A that are pending, and their associated information, are output in the driveWarning, driveWarnId (value corresponds to P953), and driveWarnInfo (value corresponds to P954) output parameters.

3.4 Function block _POSMOA_rwParameter

Task

Function blocks

The _POSMOA_rwParameter function block enables parameters to be assigned for the connected SIMODRIVE POSMO A.

The functions are as follows:

● Reading a parameter: Provides the value of the specified parameter.

● Writing a parameter value: Sets the specified parameter to the specified value.

● Loading factory settings: Resets the parameter configuration to the factory settings.

● Saving a parameter: Saves the current parameter configuration in non-volatile memory.

The following parameters can be read/written with this function block:

Parameter numbers Read from POSMO A Write to POSMO A

(positioning mode)

1...5 Yes Yes Yes

6...7 Yes Yes No

9...23 Yes Yes Yes 24 Yes Yes No

25...38 Yes Yes Yes

39...53 Yes No No 54 Yes Yes Yes 55 Yes No No

56...61 Yes Yes Yes 62 Yes No No 80:28...87:28 Yes Yes Yes 99:21 Yes Yes Yes 100 Yes Yes No 101:11 Yes Yes No

Write to POSMO A (speed-controlled mode)

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Function blocks

3.4 Function block _POSMOA_rwParameter

Parameter numbers Read from POSMO A Write to POSMO A

700

701

880

918...928 No No No 930 Yes No No

947...954 No No No 964:8 Yes No No

967...990:78 No No No

1426

1427

This parameter is new or extended with SIMOTION V4.1.

Call (LAD representation)

Write to POSMO A

(positioning mode)

(speed-controlled mode)

Yes Yes Yes Yes Yes Yes Yes Yes Yes

Yes Yes Yes Yes Yes Yes

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Page 31

Parameter description

Note

The SIMOTION identifiers have changed as of V4.0.

You can find a comparison of SIMOTION and SIMATIC names in the Appendix SIMOTION and SIMATIC names (Page 51).

Table 3-3 Parameters of the _POSMOA_rwParameter function block

Name P type 1)Data type Default Meaning

Function blocks

3.4 Function block _POSMOA_rwParameter

pkwIn IN ARRAY [0..7]

8(16#00) Transfer I/O inputs of POSMO A to FB

of BYTE paraNumber IN UINT 0 Parameter number to be read or written subindex IN USINT 0 Subindex

= 0 for parameters with no index This value is the array index for parameters with an array.

enableRead IN BOOL FALSE = TRUE: Reads parameter cyclically

= edge FALSE → TRUE: Reads parameter one time

execWrite IN BOOL FALSE = edge FALSE → TRUE: Writes parameter

When set simultaneously with enableRead, read is executed.

setDefault IN BOOL FALSE = edge FALSE → TRUE: Loads factory settings

When set simultaneously with enableRead, read is executed.

saveParameter IN BOOL FALSE = edge FALSE → TRUE: Saves parameter

When set simultaneously with enableRead, read is executed.

pkwOut IN/OUT ARRAY [0..7]

- Prepared FB data transferred to the I/O outputs of the POSMO A

of BYTE busy IN/OUT BOOL - Coordination of the FBs realValue IN/OUT REAL - Write → value to be written (data types C4 and N2)

Read → value to be read (data types C4 and N2)

dintValue IN/OUT DINT - Write → value to be written (data types I2, T2, V2 and T4)

Read → value to be read (data types I2, T2, V2 and T4)

done OUT BOOL FALSE = TRUE: When current request has been completed

= FALSE: There is no request pending, or a request is being execu‐ ted.

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Function blocks

3.5 Function block _POSMOA_rwAllParameter

Name P type 1)Data type Default Meaning

error OUT BOOL FALSE = TRUE: Request completed with error (refer to the errorID parame‐

ter)

errorID OUT WORD 16#0000 Number of the parameter assignment error signaled by the drive (pa‐

rameter identifier value (PKW) range)

Parameter types: IN = input parameter, OUT = output parameter, IN/OUT = in/out parameter

See

Distributed Positioning Motor on PROFIBUS DP

user manual

Task integration (call)

The _POSMOA_rwParameter function block must be called cyclically in the BackgroundTask or in the TimerInterruptTask. Calling in the SystemInterruptTask is not permitted. Calling the function block in synchronous tasks (e.g. IPOSynchronousTask) is not recommended for runtime reasons.

Fault messages

3.5 Function block _POSMOA_rwAllParameter

Task

The _POSMOA_rwAllParameter function block enables reading and writing of the parameter block of the connected SIMODRIVE POSMO A.

The data to be read or written are saved in a variable created by the user with the Struct_POSMOA_params data structure when the associated function block instance is called.

The following parameters are read/written with this function block:

Parameter numbers Read from POSMO A Write to POSMO A

(positioning mode)

1...5 Yes Yes Yes

6...7 Yes Yes No

9...23 Yes Yes Yes 24 Yes Yes No

25...38 Yes Yes Yes

39...53 Yes No No 54 Yes Yes Yes 55 Yes No No

56...61 Yes Yes Yes

Write to POSMO A (speed-controlled mode)

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Function blocks

3.5 Function block _POSMOA_rwAllParameter

Parameter numbers Read from POSMO A Write to POSMO A

62 Yes No No 80:28...87:28 Yes Yes Yes 99:21 Yes Yes Yes 100 Yes Yes No 101:11 Yes Yes No

700

701

880

918...928 No No No 930 Yes No No

947...954 No No No 964:8 Yes No No

967...990:116 No No No

1426

1427

This parameter is new or extended with SIMOTION V4.1.

Call (LAD representation)

Write to POSMO A

(positioning mode)

(speed-controlled mode)

Yes Yes Yes Yes Yes Yes Yes Yes Yes

Yes Yes Yes Yes Yes Yes

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Function blocks

3.5 Function block _POSMOA_rwAllParameter

Parameter description

Note

The SIMOTION identifiers have changed as of V4.0.

You can find a comparison of SIMOTION and SIMATIC names in the Appendix SIMOTION and SIMATIC names (Page 51).

Table 3-4 Parameters of the _POSMOA_rwAllParameter function block

Name P type 1)Data type Default Meaning pkwIn IN ARRAY [0..7] of

BYTE

execRead IN BOOL FALSE = edge FALSE → TRUE: Reads all data one time

execWrite IN BOOL FALSE = edge FALSE → TRUE: Writes all data one time

posMode

IN BOOL TRUE = TRUE: Positioning mode of the POSMO A

pkwOut IN/OUT ARRAY [0..7] of

BYTE

allParaPosmoA IN/OUT Struct_POS‐

MOA_params busy IN/OUT BOOL - Coordination of the FBs done OUT BOOL FALSE = TRUE: When current request has been completed

error OUT BOOL FALSE = TRUE: Request completed with error (refer to the errorID

errorID OUT WORD 16#0000 Number of the parameter assignment error signaled by the

errorParaNumber OUT INT 0 Number of the parameter that caused the error

Parameter types: IN = input parameter, OUT = output parameter, IN/OUT = in/out parameter

See

Distributed Positioning Motor on PROFIBUS DP

As of SIMOTION V4.1, this parameter is part of the _POSMOA_rwAllParameter FB and can only be operated with POSMO A software version 3.0 and higher.

8(16#00) Transfer I/O inputs of POSMO A to FB

The start takes place on a positive edge.

= FALSE: Speed-controlled mode

- Prepared FB data for I/O outputs of the POSMO A

- Data structure for all parameters of the POSMO A

= FALSE: There is no request pending, or a request is being executed.

parameter)

drive (parameter identifier value (PKW) range)

user manual

Data structure of Struct_POSMOA_params

The data structure of type Struct_POSMOA_params contains all of the parameters for controlling the SIMODRIVE POSMO A.

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Function blocks

3.5 Function block _POSMOA_rwAllParameter

This data structure is used by the _POSMOA_rwAllParameter function block. Self-defined variables of data type Struct_POSMOA_params are used to access data structure elements.

The following table contains the Struct_POSMOA_params data structure.

Note

The SIMOTION identifiers have changed as of V4.0.

You can find a comparison of SIMOTION and SIMATIC names in the Appendix SIMOTION and SIMATIC names (Page 51).

Table 3-5 Data structure of Struct_POSMOA_params

Name Type Initial value Comment r/w p1 REAL 0.0 Linear/rotary axis r/w

p2 REAL 10.0 Travel per gear revolution r/w p3 REAL 1.0 Gear reduction factor r/w p4 INT 0 Unit of measure r/w p5 REAL 0.0 Position at home position r/w p6 REAL -200000.0 Start of software limit switch r/w p7 REAL 200000.0 End of software limit switch r/w p8 REAL 3000.0 Maximum rotation speed r/w p9 INT 10 Rampup time r/w p10 DINT 30000 Maximum velocity r/w p11 REAL 2.0 Target area r/w p12 REAL 20000.0 Maximum following error r/w p13 DINT 50 Monitoring time r/w p14 REAL 20000.0 Zero speed area r/w p15 REAL 0.0 Backlash on reversal compensation r/w p16 REAL 9.0 Maximum overcurrent r/w p17 DINT 20 P-gain of speed controller r/w p18 INT 22 Integral time of speed controller r/w p19 REAL 1.0 KV factor r/w p20 REAL 30.0 Current setpoint smoothing r/w p21 REAL 2.0 Rotation speed setpoint smoothing r/w p22 REAL 1000.0 Maximum acceleration r/w p23 DINT 0 Jerk time constant r/w p24 INT 100 Override r/w p25 INT 100 Acceleration override r/w p26 INT 20 Rotation speed override for jogging r/w p27 INT 50 Acceleration override for jogging r/w p28 REAL 9.0 Maximum current r/w p29 DINT 12000 Electronics temperature tolerance time r/w p30 INT 0 Interference suppression r/w

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Function blocks

3.5 Function block _POSMOA_rwAllParameter

Name Type Initial value Comment r/w p31 INT 0 Terminal 1 function r/w

p32 INT 0 Terminal 2 function r/w p33 DINT 0 Address for measurement output 1 r/w p34 INT 7 Shift factor for measurement output 1 r/w p35 INT 128 Offset for measurement output 1 r/w p36 DINT 0 Address for measurement output 2 r/w p37 INT 0 Shift factor for measurement output 2 r/w p38 INT 128 Offset for measurement output 2 r/w p39 REAL 0.0 Position reference value r p40 REAL 0.0 Actual position value r p41 REAL 0.0 Speed setpoint r p42 REAL 0.0 Actual speed r p43 REAL 0.0 Current setpoint r p44 REAL 0.0 Actual current value r p45 DINT 0 Timer status r p46 REAL 0.0 Following error r p47 REAL 0.0 Electronics temperature r p48 INT 0 Current traversing block number r p49 INT 0 Subsequent block number r p50 DINT 0 Speed setpoint r p51 DINT 0 Actual velocity value r p52 DINT 0 HW version r p53 DINT 0 Firmware version r p54 DINT 5 P-gain of speed controller zero speed r/w p55 REAL 0.0 Signal position r p56 INT 0 Operating position r/w p57 DINT 20 P-gain of stop controller zero speed

r/w

(HW Version F and higher) p58 DINT 100 Holding brake release time r/w p59 REAL 10.0 Holding brake closure speed r/w p60 DINT 400 Holding brake deceleration time r/w p61 DINT 100 Holding brake controller disable time r/w p62 REAL 0.0 Measuring position r p80 ARRAY[0..27] of

Array_POSMOA_prgCtrlInfo

Traversing blocks 1 to 27

see Table "Structure of Array_POSMOA_prgCtrlIn‐

r/w

fo" p81 ARRAY[0..27] of REAL 28(0.0) Target position for traversing blocks 1 to 27 r/w p82 ARRAY[0..27] of INT 28(100) Velocity or speed for traversing blocks 1 to 27 r/w p83 ARRAY[0..27] of INT 28(100) Acceleration for traversing blocks 1 to 27 r/w p84 ARRAY[0..27] of DINT 28(0) Timer value for traversing blocks 1 to 27 r/w p85 ARRAY[0..27] of REAL 28(0.0) Signaling position for traversing blocks 1 to 27 r/w p86 ARRAY[0..27] of INT 28(0) SMStart MMStart for traversing blocks 1 to 27 r/w p87 ARRAY[0..27] of INT 28(0) MMStop MMPos for traversing blocks 1 to 27 r/w

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Function blocks

3.5 Function block _POSMOA_rwAllParameter

Name Type Initial value Comment r/w p99 ARRAY[0..20] of INT 13,18,23,0,0,0,0,0,0,

0,0,0,0,0,0,0,0,0,0,0

Program management (see

Motor on PROFIBUS DP

user manual)

Distributed Positioning

p100 INT 0 Control word simulation r/w p101 ARRAY[0..10] of INT 10(0) Blocks 1 to 10 of the data structure for the POSMO

A parameters

p700

INT 2 Operating mode

1 = speed-controlled mode 2 = positioning mode

p701 p880

INT 0 Message frame substitution r/w

REAL 4096 Normalizing of the speed at the gear output when

a setpoint of 4096 decimal is specified via the con‐ trol word (STW)

p930 INT 0 Current mode

1 = speed-controlled mode

2 = positioning mode p964 ARRAY[0..7] of INT 8(0) Drive identification r p1426 2)REAL 100 Tolerance band for actual speed value r/w p1427 2)INT 0 Delay time for "Ramp-up completed" signal r/w

r - read, w - write

This parameter is new or extended with SIMOTION V4.1.

r/w

Structure of "Array_POSMOA_prgCtrlInfo"

"Array_POSMOA_prgCtrlInfo" contains the program control word. Here, you can define the behavior of a traversing block (see manual).

Table 3-6 Structure of Array_POSMOA_prgCtrlInfo

Array element Data type Initial value Comment 0 BOOL TRUE Type of motion

1 BOOL TRUE Type of positioning 2 BOOL FALSE Type of timer 3 BOOL FALSE Connection between timer and start byte 4 BOOL FALSE Program return 5 BOOL FALSE Type of traversing 6 BOOL FALSE Invert start byte condition 7 BOOL FALSE SM start type 8 BOOL FALSE Program stop 9 BOOL FALSE Set actual value

Distributed Positioning Motor on PROFIBUS DP

user

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Function blocks

3.6 Calling function blocks

Task integration (call)

The _POSMOA_rwAllParameter function block must be called cyclically in the BackgroundTask or in the TimerInterruptTask. Calling in the SystemInterruptTask is not permitted. Calling the function block in synchronous tasks (e.g. IPOSynchronousTask) is not recommended for runtime reasons.

Note

The functionality of the _POSMOA_rwAllParameter FB has been expanded with V4.1. To enable you to use the newly implemented functionality, you must add the new posMode input parameter when calling the _POSMOA_rwAllParameter FB.

If you want to work with the previous functionality (< V4.1), you can leave out the new input parameter with a detailed notation when calling the FB.

Fault messages

The TRUE value at the error output parameter indicates a parameterization error. The errorID output parameter contains more detailed information on the parameterization error that has occurred or has been signaled by POSMO A. The errorParaNumber output parameter supplies the number of the parameter that has caused the error.

Parameterization errors do not need to be acknowledged. Changed parameters (e.g. ramp-up time) can be transferred again.

3.6 Calling function blocks

In order to be able to work with the function blocks in your user program, proceed as follows (The numbers shown in the following program segment correspond to the steps below.):

1. Create the function block instances (see the following program segment, e.g. create instance for the _POSMOA_control function block).

2. Create a variable for the data structure (for FB _POSMOA_rwAllParameter only).

3. Create an array for the in/out parameters of the FB.

4. Call instance of the function block.

5. Transfer input parameters.

6. The output parameters of the FB are accessed with <instance name of FB>. <name of output parameter>.

7. Data prepared by the FB for the I/O outputs are assigned to the I/O variables from the array created in step 3 (see the following program segment).

Note

If you want to control more than one SIMODRIVE POSMO A, you must create a new variable for the data structure (FB _POSMOA_rwAllParameter) and FB instances with new names for each POSMO A you use.

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Function blocks

3.6 Calling function blocks

Call example

UNIT E_posmoA;

INTERFACE

// Definition of global variables for demo program

VAR_GLOBAL

myPosmoAControl : _POSMOA_control; // create "_POSMOA_control" instance

myEnable : BOOL; // enable posmoA

myHoming : BOOL; // homing posmoA

myJogPositive : BOOL; // jog positive posmoA

myJogNegative : BOOL; // jog negative posmoA

myBusy : BOOL; // coordination bit

myError : BOOL; // variable created by user for accessing

// an output variable of the function block

END_VAR

PROGRAM ExamplePosmoA; // Program of BackgroundTask

END_INTERFACE

IMPLEMENTATION

PROGRAM ExamplePosmoA // Program of BackgroundTask

VAR

// temporary array for outputs of FBs

tmpPkwOutput : ARRAY[0..7] of BYTE;

tmpPzdOutput : ARRAY[0..3] of BYTE;

END_VAR

// INSTANCE CALL of FB _POSMOA_control

myPosmoAControl ( pkwIn := myPkwIn,

pzdIn := myPzdIn,

enable := myEnable,

homing := myHoming,

jog1 := myJogNegative,

jog2 := myJogPositive,

busy := myBusy,

pkwOut := tmpPkwOutput,

pzdOut := tmpPzdOutput

);

// an output variable in the "_POSMOA_control" function block is assigned to a

// "myError" variable created by the user.

myError := myPosmoAControl.error;

(1)

(3)

(4)

(5)

(6)

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3.6 Calling function blocks

// Assignment of intermediate buffer byte arrays to I/O addresses

myPkwOut := tmpPkwOutput;

myPzdOut := tmpPzdOutput;

END_PROGRAM // ExamplePosmoA

END_IMPLEMENTATION

Note

The ExamplePosmoA program must be assigned in the execution system.

(7)

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Application example

4.1 General information on the application example

Task

The application example shows how POSMO A can be controlled with the help of the function blocks and how POSMO A drive parameters can be read and written.

Ther is a command interface enumCommands for starting the desired action, e.g. jogging.

The Struct_checkbacks data structure shows the status of the actions and additional information.

The following operating modes and functionalities are implemented:

● Homing

Option: "Approach using visual axis marking and assign actual value"

● Jogging

Move in positive or negative direction

● MDI

Travel to the required position

● Parameter handling

– Write or read individual parameters

– Save all parameters in the EEPROM of the POSMO A

● Read out current actual position

● The current actual position of the POSMO A is read cyclically in jog mode and in MDI and

stored in a variable.

Hardware platform

The application example is available for various SIMOTION hardware platforms.

Note

If the application example is not available for your SIMOTION hardware platform, you must adapt the hardware configuration.

Adapting the application example

The configuration in the example and its available hardware must be adapted.

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Application example

4.1 General information on the application example

The following options are available:

1. The configuration in the example can be adapted to suit the available hardware (commission drive, PROFIBUS DP address).

2. The hardware configuration can be adapted to the example (commission drive, PROFIBUS DP address).

Note

Please observe the drive documentation when commissioning the drive. This documentation is included in the SIMOTION SCOUT scope of delivery in electronic format.

Calling the application example

The application example can be found on the "SIMOTION Utilities & Applications" CD-ROM. The "SIMOTION Utilities & Applications" CD-ROM is provided free of charge and part of the SIMOTION SCOUT scope of delivery.

1. De-archive and open the project containing the application example.

Error messages

2. Check the hardware configuration: PROFIBUS DP addresses.

3. Save and compile the example project. You can then download the example to the SIMOTION device and switch to RUN mode.

Additional handling steps for the example are carried out using the Enums in the symbol browser within the myCommand structure. This requires that the "E_posmoA" element be selected from the Programs container in the project navigator.

Values from the "Control value" column are assigned to the corresponding variables by clicking Immediate control.

Pending errors and warnings (for example, reading during jogging or of individual parameter) are displayed in the following variables:

● myCheckbacks.error = TRUE An error has occurred (request canceled; a POSMO A error is pending).

● myCheckbacks.ctrlErrorID Error specification of the _POSMOA_control function block. Number of the parameter assignment error signaled by POSMO A.

● myCheckbacks.driveErrorID Error specification of POSMO A Reason for an error signaled by POSMO A

● myCheckbacks.rwErrorID Error specification of the _POSMOA_rwParameter function block. Error has occurred during reading or writing.

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4.2 Operator control and monitoring of the application example in the detail view

● myCheckbacks.driveWarning = TRUE

POSMO A warning is pending.

● myCheckbacks.driveWarningID = TRUE

Warning number of an alarm signaled by POSMO A.

4.2 Operator control and monitoring of the application example in the detail view

POSMO A will be automatically initialized when your SIMOTION hardware platform changes from STOP to RUN mode. The POSMO A provides feedback that the drive is ready to operate with the following variable:

● myCheckbacks.driveReady = TRUE

Select operating mode

You can choose between "Jog", "Homing", "MDI", or "Parameter handling" modes. This is done via the myCommand variable.

"Jog" mode

In the "Jog" mode, the POSMO A can be moved in positive and negative direction.

"Jogging" is implemented with the following parameter settings on the instance created of the _POSMOA_control function block:

● jogOverride = 100

● veloOverride = 100

● noStopIntermediate = TRUE No intermediate stop

● noStop = TRUE No stop

In the "Control value" column of the symbol browser, select the check boxes for the following variables and select the values to be assigned.

● myCommand = START_JOG_POSITIVE Jogging in positive direction

● myCommand = START_JOG_NEGATIVE Jogging in negative direction

Clicking on Immediate control assigns the value to the variable, and the POSMO A is moved in the respective direction.

The current "Jog" state can be read in the symbol browser as follows:

● myCheckbacks.actCommand = JOG_POSITIVE_ACTIVE Jogging in positive direction activated

● myCheckbacks.actCommand = JOG_NEGATIVE_ACTIVE Jogging in negative direction activated

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Application example

4.2 Operator control and monitoring of the application example in the detail view

● myCheckbacks.jogPositiveBusy = TRUE POSMO A moves in position direction

● myCheckbacks.jogNegativeBusy = TRUE POSMO A moves in negative direction

The current actual position of POSMO A can be read in the symbol browser in the myCheckbacks.actPosition variable.

Note

The "Jog" mode may be terminated only after the POSMO A is stopped (myCommand = STOP)!

"Homing" mode

The "approach using visual axis marking and assign actual value" options have been implemented. For homing, POSMO A must be switched to closed-loop control and zero speed. The actual value (parameter 40 of POSMO A) can be set via the "Parameter handling", write individual parameter operating mode.

In the "Control value" column of the symbol browser, select the check boxes for the following variables and select the values to be assigned.

"MDI" mode

● myCommand = START_HOMING

Clicking Immediate control assigns the value to the variable, and the POSMO A is homed to the value set in parameter 40 of POSMO A.

Note

For more information on the homing of the POSMO A, refer to the

on PROFIBUS DP

This documentation is included in the SIMOTION SCOUT scope of delivery as electronic documentation!

The current "Homing" state can be read in the symbol browser as follows:

● myCheckbacks.actCommand = HOMING_ACTIVE Homing activated

● myCheckbacks.actCommand = NO_COMMAND_ACTIVE myCheckbacks.done = TRUE Homing completed without error

Requirement: The POSMO A is homed!

user manual.

Distributed Positioning Motor

In the "MDI" mode, one MDI block absolute can be moved.

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Application example

4.2 Operator control and monitoring of the application example in the detail view

"Jogging" of the MDI block is implemented with the following parameter settings on the instance created of the _POSMOA_control function block:

● mdiMode = FALSE MDI absolute

● mdiVelocity = 100

● mdiAcceleration = 100

● veloOverride = 100

● noStopIntermediate = TRUE No intermediate stop

● noStop = TRUE No stop

The target position of the MDI block is specified in the myAbsolutePosition variable.

In the "Control value" column of the symbol browser, select the check boxes for the following variables and select the values to be assigned.

● myCommand = START_MDI_BLOCK_ABSOLUTE

● myAbsolutePosition = ... The target position of the MDI block is specified here.

(Default = 0.0)

Clicking on Immediate control assigns the values to the variables, and the POSMO A moves the MDI block absolute.

The current state of the "MDI" mode can be read in the symbol browser as follows:

● myCheckbacks.actCommand = MDI_BLOCK_ACTIVE

Move MDI block absolute activated

● myCheckbacks.actCommand = NO_COMMAND_ACTIVE

● myCheckbacks.done = TRUE

● myCheckbacks.positionReached = TRUE

MDI block traversed without error

The current actual position of POSMO A can be read in the symbol browser, from the myCheckbacks.actPosition variable.

Note

The "MDI" mode may be terminated only after the POSMO A is stopped (myCommand = STOP)!

"Parameter handling" mode

In the "Parameter handling" mode you can read and write individual parameters and save all parameters in the EEPROM of POSMO A.

Read individual parameter

In the myRdParaNumber variable you state the parameter you want to read. In the myRdSubIndex variable, you state the subindex for the parameter you wish to read (indexed parameters only).

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4.2 Operator control and monitoring of the application example in the detail view

In the "Control value" column of the symbol browser, select the check boxes for the following variables and select the values to be assigned.

● myCommand = READ_ONE_PARAMETER Read individual parameter

● myRdParaNumber = ... You state the number of the parameter to be read here.

● myRdSubIndex = ... You state the subindex of the parameter to be read here (for indexed parameters only)

The value read is saved in the myReadValue variable.

Write individual parameter

In the myWrParaNumber variable you state the parameter you want to write. In the myWrSubIndex variable, you state the subindex for the parameter you wish to write (indexed parameters only).

In the myWrRealValue variable (data types C4 and N2) 2) or myWrDintValue (data types I2, T2, V2, and T4) 2), you state the value for the parameter to be written.

In the "Control value" column of the symbol browser, select both the check boxes for the following variables and the values to be assigned.

● myCommand = WRITE_ONE_PARAMETER Write individual parameter

● myWrParaNumber = ... You state the number of the parameter to be written here.

● myWrSubIndex = ... You state the subindex of the parameter to be written here (for indexed parameters only)

● myWrRealValue = ... You state the value of the parameter to be written here (data types C4 and N2) 2).

● myWrDintValue = ... Here, you state the value of the parameter to be written (data types I2, T2, V2, and T4) 2).

Refer to the

Distributed Positioning Motor on PROFIBUS DP

user manual. This documentation is included in the SIMOTION SCOUT scope of delivery as electronic documentation!

Saving all parameters in the EEPROM

In the "Control value" column of the symbol browser, select the check boxes for the following variables and select the values to be assigned.

Clicking Immediate control assigns the value to the variable; this activates saving of all parameters in the EEPROM.

● myCommand = SAVE_PARAMETER Saving all parameters in the EEPROM

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Application example

4.3 Variables used in application example

The current "Parameter handling" state can be read in the symbol browser as follows:

● myCheckbacks.actCommand = READ_PARA_ACTIVE Read individual parameter activated

● myCheckbacks.actCommand = WRITE_PARA_ACTIVE Write individual parameter activated

● myCheckbacks.actCommand = SAVE_PARAMETER_ACTIVE Save all parameters of the POSMO A activated

● myCheckbacks.actCommand = NO_COMMAND_ACTIVE myCheckbacks.done = TRUE Parameter handling completed without error

Acknowledging faults on POSMO A

Faults on POSMO A are acknowledged as follows:

● myCommand = RESET_ERRORS

The current fault acknowledgement state can be read in the symbol browser as follows:

● myCheckbacks.actCommand = RESET_ERRORS_ACTIVE Fault acknowledgement active

● myCheckbacks.actCommand = NO_COMMAND_ACTIVE myCheckbacks.done = TRUE Fault acknowledgement completed

Note

A POSMO A fault can only be acknowledged successfully when the cause of the error no longer exists.

4.3 Variables used in application example

Table 4-1 Overview of the variables used

Symbol Data type Initial value Meaning myCommand enumCommands NO_COMMAND Command interface

myCheckbacks Struct_Checkbacks NO_COMMAND_ACTIVE Command status

Additional information

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Application example

4.3 Variables used in application example

Table 4-2 Overview of the enums enumCommands

Symbol Enum Value Meaning START_HOMING 0 Start homing of POSMO A

START_JOG_NEGATIVE 1 Start jogging in negative direction START_JOG_POSITIVE 2 Start jogging in positive direction START_MDI_BLOCK_ABSOLUTE 3 Start moving MDI block absolute STOP 4 Stop all actions RESET_ERRORS 5 Acknowledge faults on POSMO A READ_ONE_PARAMETER 6 Start reading individual parameter WRITE_ONE_PARAMETER 7 Start writing individual parameter SAVE_PARAMETER 8 Save all parameters in the EEPROM of POSMO A NO_COMMAND 9 No action to be carried out

Table 4-3 Overview of the enums enumActCommand

Symbol Enum Value Meaning HOMING_ACTIVE 0 Homing of POSMO A activated

JOG_NEGATIVE_ACTIVE 1 Jogging in negative direction activated JOG_POSITIVE_ACTIVE 2 Jogging in positive direction activated MDI_BLOCK_ACTIVE 3 Moving MDI block absolute activated STOP_ACTIVE 4 Stop all actions activated RESET_ERRORS_ACTIVE 5 Acknowledge faults on POSMO A active READ_PARA_ACTIVE 6 Read individual parameter active WRITE_PARA_ACTIVE 7 Write individual parameter active SAVE_PARAMETER_ACTIVE 8 Save all parameters in the EEPROM of POSMO A active NO_COMMAND_ACTIVE 9 No action active

Table 4-4 Data structure Struct_checkbacks

Symbol Data type Meaning actCommand enumActCommand Enums active actions

done BOOL Action completed driveReady BOOL Drive (POSMO A) ready for operation jogPositiveBusy BOOL Jogging positive active jogNegativeBusy BOOL Jogging negative active actPosition REAL Current actual position of POSMO A positionReached BOOL Position when moving MDI block absolute reached error BOOL Error has occurred

(request canceled; a POSMO A error is pending)

ctrlErrorID WORD Error specification of the _POSMOA_control block.

Number of the parameter assignment error signaled by POSMO A

driveErrorID WORD Error specification of the POSMO A

Reason for an error signaled by POSMO A

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Application example

4.3 Variables used in application example

Symbol Data type Meaning rwErrorID WORD Error specification of the _POSMOA_rwParameter block.

Error during reading or writing has occurred driveWarning BOOL POSMO A warning is pending driveWarningID WORD Warning number

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Application example

4.3 Variables used in application example

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Appendix

A.1 SIMOTION and SIMATIC names

The table below contains a comparison of SIMOTION and SIMATIC names.

Table A-1 SIMOTION and SIMATIC names for SIMODRIVE POSMO A

Name in the SIMOTION system as of

V4.1

(command library in SCOUT)

Function block parameters _POSMOA_control FB 10 _FB_posmoA_control pkwIn I_O_address PKWInputInterface pzdIn I_O_address PZDInputInterface enable Initialization initialize homing Referencing homing releaseBrake Brake_release jog1 Jogging_1 jog1 jog2 Jogging_2 jog2 jogOverride Jogging_override jogOverride start Start start singleBlock Automatic_operation enableRdIn Read_in_enable extBlockChange External_blockchange noStopIntermediate No_intermediate_stop intermediateStop noStop No_stop stop resetError Fault_acknowledgement resetError blockNumber Block_number blockNumber veloOverride Override velocityOverride setStartInformation Start_byte setStartInformation mdiMode MDI_type MDIMode mdiVelocity MDI_velocity MDIVelocity mdiAcceleration MDI_acceleration MDIAcceleration mdiPosition MDI_position MDIPosition reqControl Ctrl_Req pkwOut I_O_address PKWOutputInterface pzdOut I_O_address PZDOutputInterface busy FB_coordination busy ready Ready ready active - dataReady Data_transfer_ready statusWord Status_word statusWord

Name in the SIMATIC system Name in the SIMOTION system up to V3.2

(SIMOTION function library)

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Appendix A.1 SIMOTION and SIMATIC names

Name in the SIMOTION system as of

V4.1

(command library in SCOUT)

actBlockNumber Actual_block actualBlockNumber statusInformation Checkback_signal_byte statusInformation driveWarning Warning driveWarning driveWarnId Warn_number driveWarningNumber driveWarnInfo Warn_info driveError - driveError driveErrorId - driveErrorNumber error Fault error errorID Fault_number errorNumber

_POSMOA_nControl FB 9 enable - pkwIn - pzdIn - init Initialization releaseBrake Brake_release accelTime Acc_Time releaseRamp Ramp_en startRamp Ramp_on setpoint Sp releaseSetpoint Sp_en resetError Fault_acknowledgement reqControl Ctrl_req busy FB_coordination pkwOut - pzdOut - ready Ready active - dataReady Data_transfer_ready statusWord Status_word actValue Pv error - errorID - driveError Fault driveErrorId Fault_number driveWarning Warning driveWarnId Warn_number driveWarnInfo Warn_info

_POSMOA_rwParameter FB 11 _FB_posmoA_readWriteParameter pkwIn I_O_address PKWInputInterface

Name in the SIMATIC system Name in the SIMOTION system up to V3.2

(SIMOTION function library)

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Appendix

A.1 SIMOTION and SIMATIC names

Name in the SIMOTION system as of

V4.1

(command library in SCOUT)

paraNumber Number parameterNumber subindex Index subindex enableRead Read read execWrite Write write setDefault Factory_default setFactorySettings saveParameter Parameter_save saveParameter pkwOut I_O_address PKWOutputInterface busy FB_coordination busy realValue Value REALValue dintValue Value DINTValue done Task_completed done error Fault_present error errorID Fault_number errorNumber

_POSMOA_rwAllParameter FB 12 _FB_posmoA_readWriteAllParameter pkwIn I_O_address PKWInputInterface execRead Read_all read execWrite Write_all write posMode Pos_en pkwOut I_O_address PKWOutputInterface allParaPosmoA - allPosmoAParameter busy FB_active busy done Task_complete done error Fault_present error errorID Fault_number errorNumber errorParaNumber Fault_parameter_number errorParameterNumber

Data structure elements Struct_POSMOA_params Struct_posmoA_parameter p1 p1 parameter1 p2 p2 parameter2 p3 p3 parameter3 p4 p4 parameter4 p5 p5 parameter5 p6 p6 parameter6 p7 p7 parameter7 p8 p8 parameter8 p9 p9 parameter9 p10 p10 parameter10 p11 p11 parameter11 p12 p12 parameter12

Name in the SIMATIC system Name in the SIMOTION system up to V3.2

(SIMOTION function library)

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Appendix A.1 SIMOTION and SIMATIC names

Name in the SIMOTION system as of

V4.1

(command library in SCOUT)

p13 p13 parameter13 p14 p14 parameter14 p15 p15 parameter15 p16 p16 parameter16 p17 p17 parameter17 p18 p18 parameter18 p19 p19 parameter19 p20 p20 parameter20 p21 p21 parameter21 p22 p22 parameter22 p23 p23 parameter23 p24 p24 parameter24 p25 p25 parameter25 p26 p26 parameter26 p27 p27 parameter27 p28 p28 parameter28 p29 p29 parameter29 p30 p30 parameter30 p31 p31 parameter31 p32 p32 parameter32 p33 p33 parameter33 p34 p34 parameter34 p35 p35 parameter35 p36 p36 parameter36 p37 p37 parameter37 p38 p38 parameter38 p39 p39 parameter39 p40 p40 parameter40 p41 p41 parameter41 p42 p42 parameter42 p43 p43 parameter43 p44 p44 parameter44 p45 p45 parameter45 p46 p46 parameter46 p47 p47 parameter47 p48 p48 parameter48 p49 p49 parameter49 p50 p50 parameter50 p51 p51 parameter51 p52 p52 parameter52 p53 p53 parameter53

Name in the SIMATIC system Name in the SIMOTION system up to V3.2

(SIMOTION function library)

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Appendix

A.2 List of abbreviations

Name in the SIMOTION system as of

V4.1

(command library in SCOUT)

p54 p54 parameter54 p55 p55 parameter55 p56 p56 parameter56 p57 p57 parameter57 p58 p58 parameter58 p59 p59 parameter59 p60 p60 parameter60 p61 p61 parameter61 p62 p62 parameter62 p80 p80 parameter80 p81 p81 parameter81 p82 p82 parameter82 p83 p83 parameter83 p84 p84 parameter84 p85 p85 parameter85 p86 p86 parameter86 p87 p87 parameter87 p99 p99 parameter99 p100 p100 parameter100 p101 p101 parameter101 p700 p700 p701 p701 p880 p880 p930 p930 parameter930 p964 p964 parameter964 p1426 p1426 p1427 p1427 -

Program control word Array_POSMOA_prgCtrlInfo Array_posmoA_programControlInformation

Name in the SIMATIC system Name in the SIMOTION system up to V3.2

(SIMOTION function library)

A.2 List of abbreviations

Table A-2 Abbreviations

Abbreviation Meaning DC Direct current

DP Distributed I/O EEPROM Electrically Erasable Programmable Read-Only Memory ES SIMOTION SCOUT

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Appendix A.2 List of abbreviations

Abbreviation Meaning FB Function block

FW Firmware HW Hardware IN Input parameters IN/OUT In/out parameter LAD Ladder diagram MDI Manual Data Input OUT Output parameters PIV Parameter identification value: Parameter part of a PPO POSMO A Positioning Motor Actuator PPO Parameter Process data Object: Cyclic data message frame when transferring data

PZD Process data: Process data part of a PPO ST Structured text STW Control word SW Software TO Technology object

with PROFIBUS DP and the "variable-speed drives" profile

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Index

Calling function blocks

POSMO A, 38

Data structure of Struct_POSMOA_params, 34

I/O variable

Creating, 14 Installation and startup, 11 Integrating the function blocks, 13

Message frame substitution

FB _POSMOA_control, 22

FB _POSMOA_nControl, 27

POSMO A application example, 41 POSMO A function blocks

_POSMOA_control, 17

_POSMOA_nControl, 24

_POSMOA_rwAllParameter, 32

_POSMOA_rwParameter, 29

Call example, 38

Overview, 17

References, 3

SIMOTION and SIMATIC names, 51

Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual, 01/2015 57

Page 58

Index

Supplement to SIMODRIVE POSMO A Positioning Motor

58 Function Manual, 01/2015