SIMOTION Standard Function for Active Line Modules (ALM)

SIMOTION Standard Function for Active Line Modules (ALM)

______________________________________________________________________

Preface

Description

1

Programming

2

Assign parameters

3

Example of an application

4

Appendix

A

SIMOTION

Standard Function for Active Line Modules (ALM)

Function Manual

03/2009 Edition

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Ⓟ 03/2009

Copyright © Siemens AG 2009. Technical data subject to change

Standard Function for Active Line Modules (ALM) Function Manual, 03/2009 Edition 3

Preface

Contents of the function manual This document is part of the SIMOTION programming references documentation package.

Function block The _ALM_control function block is part of the command library of the “SIMOTION SCOUT” engineering system.

SIMOTION Documentation An overview of the SIMOTION documentation can be found in a separate list of references. This documentation is included as electronic documentation with the supplied SIMOTION SCOUT. The SIMOTION documentation consists of 9 documentation packages containing approximately 80 SIMOTION documents and documents on related systems (e.g. SINAMICS). The following documentation packages are available for SIMOTION V4.1 SP3: ● SIMOTION Engineering System ● SIMOTION System and Function Descriptions ● SIMOTION Diagnostics ● SIMOTION Programming ● SIMOTION Programming - References ● SIMOTION C ● SIMOTION P350 ● SIMOTION D4xx ● SIMOTION Supplementary Documentation

Preface

Standard Function for Active Line Modules (ALM) 4 Function Manual, 03/2009 Edition

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Preface


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Preface



Table of contents

Preface ...................................................................................................................................................... 3 1 Description................................................................................................................................................. 9

1.1 General ..........................................................................................................................................9 1.2 Product description ......................................................................................................................10

2 Programming ........................................................................................................................................... 11 2.1 Integrating the function block in the user project .........................................................................11 2.2 Addressing the ALM.....................................................................................................................12

3 Assign parameters................................................................................................................................... 15 3.1 _ALM_control function block ........................................................................................................15 3.2 Calling the function block .............................................................................................................18 3.3 Error messages............................................................................................................................20

4 Example of an application........................................................................................................................ 23 4.1 General ........................................................................................................................................23 4.2 Sequence of the application example..........................................................................................25

A Appendix.................................................................................................................................................. 27 A.1 List of abbreviations .....................................................................................................................27

Index........................................................................................................................................................ 29

Table of contents



Description 11.1 General

The _ALM_control function block be used only in the SIMOTION system ● for the SIMOTION D4xx hardware platform or ● the the SIMOTION C, P and D hardware platforms with subordinate SINAMICS S120

CU320 in conjunction with a closed-loop controlled SINAMICS "Active Line Module" (ALM) infeed.

Note The documentation for the SIMOTION Motion Control System and for the SINAMICS drive system are part of the supplied "SIMOTION SCOUT" Engineering System.

The following software versions are required for the standard functions described in this documentation: ● SIMOTION SCOUT V4.0 or higher ● SIMOTION Kernel V4.0 or higher

Description 1.2 Product description


1.2 Product description The _ALM_control function block can be used to not only enable and disable the Active Line Module (ALM), but also perform a simple diagnosis. The _ALM_control function block is provided for the operation of the status word and control word interface of the ALM. The function block is described in this manual.


Programming 22.1 Integrating the function block in the user project

Creating the FB instance in the user project The _ALM_control function block is part of the command library of the “SIMOTION SCOUT” engineering system. For operating the status word and control word interface, an instance of the _ALM_control FB for the configured ALM must be created in the user project. If several ALMs are operated, an FB instance must be created in the user project for each ALM. Example: VAR_GLOBAL myFbAlmCtrl : _ALM_control; // instance of FB _ALM_control END_VAR

Call (LAD representation)

Example of an application The application example is included 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 supply.

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

Programming 2.2 Addressing the ALM


2.2 Addressing the ALM

Overview Prerequisite for the correct operation of the _ALM_control FB is the configuration of the ALM in the SIMOTION SCOUT using the standard telegram 370 (PZD 1/1). The communication between the SIMOTION device and the ALM is performed using the internal PROFIBUS DP (for SIMOTION D4xx) or using the external PROFIBUS DP (for SIMOTION C, P, D with subordinate SINAMICS S120 CU320). Addresses starting at 256 are recommended for the ALM, where I/O variables are used for the write and read peripheral accesses.

Creating I/O variables In the SIMOTION user project, two I/O variables with the addresses taken from the HW Config must be created for reading the status word (ZSW) and for reading the control word (STW) of the ALM. The parameters must be assigned in the Symbol Browser (refer to the following example). Although the names can be chosen freely, the (myperiInAlm, myperiOutAlm) used here are also used later in the examples.

Example Determining the addresses from the HW Config:

Figure 2-1 Addresses in HW Config



Creating the I/O Variables in the Symbol Browser:

Figure 2-2 Addressing with I/O variables

Note Ensure that the correct values are accepted. In the program, when the _ALM_control FB is called, you must assign these two I/O variables to the periIn or periOut input or output parameters, respectively. Attention: The I/O address could be different in your project.

Parameter transfer The _ALM_control FB receives the above address in the periIn call parameter the peripheral input word. The periOut output parameter of the _ALM_control FB will be passed the above address in the peripheral output word.

FB call For the FB call, the following assignments must be made with regard to the myPeriInAlm and myPeriOutAlm I/O variables and the input or output parameters of the periIn or periOut FB: myFbAlmCtrl ( enable := ... , reset := ... , periIn := myPeriInAlm ); myPeriOutAlm := myFbAlmCtrl.periOut

Note For additional information, see the following sources: • SIMOTION SCOUT online help • Programming manual of the corresponding programming language, e.g.:

– SIMOTION ST, Structured Text programming manual – SIMOTION MCC, Motion Control Chart programming manual – SIMOTION LAD/FBD, Ladder Diagram and Function Block Diagram Programming

Manual These documents are included in the SIMOTION SCOUT scope of supply as electronic documentation!




Assign parameters 33.1 _ALM_control function block

Introduction You can use the _ALM_control FB from your user program to enable and disable the Active Line Module (ALM). The _ALM_control FB transfers the commands to the ALM, reads the provided response data and monitors the status signals of the ALM.

Call (LAD representation)



Parameter description The following table contains all parameters of the _ALM_control FB.

Table 3- 1 FB _ALM_control parameters

Name Type Data type Default Meaning enable IN BOOL FALSE Enable/disable ALM

TRUE = enable FALSE = disable

reset IN BOOL FALSE Acknowledge pending errors with rising edge periIn IN WORD 0 Input variable for the ALM status word done OUT BOOL FALSE Acknowledge enable for enable and disable. Signal present for a

block call. error OUT BOOL FALSE ALM error status

TRUE = error during the request processing errorID OUT DWORD 0 Specification of the error

For error = TRUE, the errorID parameter contains the error information (refer to the "Error messages" table)

activated OUT BOOL FALSE ALM status.: TRUE = ALM enabled FALSE = ALM disabled

periOut OUT WORD 0 Output variable for the ALM control word

Function description A rising edge at the enable input parameter activates the Active Line Module in the error-free state. The switch from TRUE to FALSE at the enable input parameter disables the ALM. Errors present at the error output parameter must be acknowledged with a rising edge at the reset input parameter. Only the error is acknowledged. After a successful error acknowledgement, the ALM must be reactivated with a rising edge at the enable input parameter. The ALM will not be enabled when errors are present (error = TRUE) and a rising edge at the enable input parameters. The error must be acknowledged first. The error reset and the enable can also be executed together. A simultaneous setting of enable and reset from FALSE to TRUE first resets a pending error and then enables the ALM. ● If an error has been acknowledged with reset and no further error is present, error =

FALSE and errorID = 0. ● If an error is still present, error = TRUE remains and the errorID will be updated.



Graphical overview of the functionality

Figure 3-1 Signal propagation diagram

Task integration (call) The _ ALM_control FB is provided for calling in a cyclical task and must be called for each pass through the task. The processing of a request can take several cycles. The user decides in which cyclical task the _ALM_control is called. The _ALM_control functionality does not set any restrictions.

Assign parameters 3.2 Calling the function block


3.2 Calling the function block

Procedure Proceed as follows to work with the _ALM_control function block in your user project (the numbers shown in the following program segment correspond to the steps listed below): 1. Create the instance of the _ALM_control function block. 2. Call the instance of the function block. 3. Transfer input parameters. 4. The output parameters of the function block are accessed with <instance name of

FB>.<name of output parameter>. 5. The data for the I/O outputs (control word of the Active Line Module) prepared by the FB

are assigned to the I/O variables. The _setSafeValue system function is used for this purpose.

Note The program segment is an extract from the supplied application example. The application example is included 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 is part of the SIMOTION SCOUT scope of delivery.

Assign parameters 3.2 Calling the function block


Program segment from the sample program: UNIT E_AlmCtr;

INTERFACE

VAR_GLOBAL

myFbAlmCtrl : _ALM_control; // Instance of FB _ALM_control

END_VAR

(1)

PROGRAM StartUpAlm;

PROGRAM BackGrndAlm;

PROGRAM PeripheralFaultAlm;

END_INTERFACE

IMPLEMENTATION

PROGRAM BackGrndAlm

// *********************************************************************

// call instance of FB _ALM_control

// *********************************************************************

myFbAlmCtrl ( enable := myAlmCtrl_In.enable, (2) reset := myAlmCtrl_In.reset,

periIn := myAlmCtrl_In.periIn

);

(3)

myAlmCtrl_Out.error := myFbAlmCtrl.error;

myAlmCtrl_Out.errorID := myFbAlmCtrl.errorID;

myAlmCtrl_Out.done := myFbAlmCtrl.done;

myAlmCtrl_Out.activated := myFbAlmCtrl.activated;

myAlmCtrl_Out.periOut := myFbAlmCtrl.periOut;

(4)

//****************************************************************************

// write the output parameters of FB _ALM_control - control WORD ALM -

// to i/o-variable myperiOutAlm

//****************************************************************************

s_eRetVal := _setSafeValue (

variable := myperiOutAlm,

value := myAlmCtrl_Out.periOut,

accessmode := default_value,

setvalue := s_setValue

);

(5)

END_PROGRAM

END_IMPLEMENTATION

Assign parameters 3.3 Error messages


3.3 Error messages The TRUE value at the error output parameter indicates an error state of the ALM. More details of the error are provided at the errorID output parameter. The assignment of the error cause is made in this output parameter. If an internal ALM (2xxxx group) fault occurs, the user must fetch the exact error cause using the appropriate SIMOTION system functions, e.g. _readDriveFaults. The SIMOTION System Functions/Variables Devices parameter manual contains a detailed description of the system functions. This document is included as electronic documentation with the supplied SIMOTION SCOUT.

Error groups The errors reported in the errorID output parameter can be assigned to the following error groups: Group 1xxxx: A time-out is present.

The ALM does not respond to or responds too late to the _ALM_control FB commands.

Group 2xxxx: An internal ALM fault is present. "Fault active" bit of the status word of the ALM = TRUE

Group 3xxxx: The ALM has reset the "Control by PLC" bit in the status word during operation.

Error messages

Note The S1 to S4 states are contained in the errorID output parameter when the ALM is currently performing an enable/disable. The meaning of the states (S1 to S4) described in the following table is contained in the Appendix Explanations of the ALM's status and control word are contained in the SINAMICS S120 Drive Functions function manual. This document is included as electronic documentation with the supplied SIMOTION SCOUT.



The following error groups and error messages should be interpreted as decimal.

Table 3- 2 Error messages

Error No. (errorID), decimal

Meaning

1xxxx Time-out during the status transition of the ALM. • 000x: Specifies the status (S1…S4) that was not attained at the enable. • 00x0: Specifies the status (S1…S4) that was not attained at the disable. Examples: • 10002: During the enable, the ALM did not attain the S2 status or attained it too late. • 10030: During the disable, the ALM did not attain the S3 status or attained it too late.

2xxxx The ALM reports an internal fault using the "Fault active" bit of the status word. • xxxx: Specifies the status number that is to be attained currently. • 000x: Specifies the state (S1…S4) for which before being attained at the enable the error was

signaled. • 00x0: Specifies the state (S1…S4) for which before being attained at the disable the error was

signaled. Examples: • 20002: During the enable, the ALM has not yet attained the S2 state and a fault was signaled. • 20030: During the disable, the ALM has not yet attained the S3 state and a fault was signaled.

30000 For a rising edge for enable, the "Control by PLC" bit in the status word of the ALM was FALSE. This means that the command could not be performed.

3xxxx The ALM has reset its "Control by PLC" bit in the status word during operations. The FB resets all bits in the ALM status word and is waiting for new commands. • xxxx: Specifies the status number that is to be attained currently. • 000x: Specifies the state (S1…S4) for which before being attained during the enable the above

bit was revoked. • 00x0: Specifies the state (S1…S4) for which before being attained during the disable the above

bit was revoked. Examples: • 30002: During the enable, the ALM has not yet attained the S2 status and the "Control by PLC"

bit was revoked. • 30030: During the disable, the ALM has not yet attained the S3 status and the "Control by PLC"

bit was revoked.

40001 For a rising edge for reset, the "Control by PLC" bit in the status word of the ALM was FALSE. This means that the command could not be performed.

40003 For a rising edge of reset, the ALM has not reset the "Fault active" bit in the status word although the "Acknowledge error" bit in the status word was set.




Example of an application 44.1 General

Task The application example shows: ● How you use the _ALM_control FB to enable and disable an ALM. ● How you use the _ALM_control FB to signal error states and how you can reset the

errors. ● Other diagnostic information for the ALM. The application example includes the following programs:

Table 4- 1 Application example programs

Program Task Meaning StartUpALM StartupTask Program for start-up PeripheralFaultALM PeripheralFaultTask Program for handling diagnostic alarms BackGrndALM BackgroundTask Program to enable/disable the ALM

Structure of the example The application example is structured as follows: ● Type declarations ● Variable definitions ● Variable initialization ● Enable sequence ● Disable sequence ● Diagnostic alarms in the PeripheralFaultTask evaluation

Hardware platform The application example is available for various SIMOTION hardware platforms.

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

Example of an application 4.1 General


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 is part of the SIMOTION SCOUT scope of delivery. 1. Dearchive and open the project containing the application example. 2. Check the axis configuration. 3. If necessary, modify the example project. 4. Save and compile the example project. Then, you can download the example to the

SIMOTION device and switch to RUN mode.

Adapting the application example The ALM address in the hardware configuration must match the address of the I/O variables of the application example. To select a diagnostic alarm in the PeripheralFaultTask, the ALM address in another variable must be changed. The following settings may need to be changed: ● Address of the myPeriInAlm and myPeriOutAlm I/O variables (default: 256) ● myAlmModuleAddress (default: 256)

Example of an application 4.2 Sequence of the application example


4.2 Sequence of the application example

Relevant variables in the application example

Table 4- 2 Overview of the relevant variables

Variable Data type Initial value Meaning mySwitchOn BOOL FALSE TRUE = start the enable sequence mySwitchOff BOOL FALSE TRUE = start the disable sequence myFirstRun BOOL TRUE TRUE = initialize the variables myError BOOL FALSE TRUE = ALM error or enable/disable error myErrorId DWORD 16#00000000 Error specification myDiagnosticAlarm BOOL FALSE TRUE = diagnostic alarm present on the ALM myAlmCtrl_In Struct_AlmControlIn - _ALM_control FB input parameters structure myAlmCtrl_Out Struct_AlmControlOut - _ALM_control FB output parameters structure myperiInAlm WORD 16#0000 I/O variable with ALM address for the status

word myperiOutAlm WORD 16#0000 I/O variable with ALM address for the control

word myAlmModuleAddress DINT 256 ALM address for selection of the diagnostic

alarm in PeripheralFaultTask myPftTsi Struct_PeripheralFaultTaskTsi - PeripheralFaultTask task start information

Example of an application 4.2 Sequence of the application example


StartUpALM program A flag in the StartUpAlm program is set for the initial run that will then be evaluated in the BackgroundTask. This allows the implementation of a standard start-up sequence not only for the STOP – RUN transition but also for an appropriate user request.

BackGrndALM program The BackGrndALM program contains two program sequences / sequences each for the enable/disable of the Active Line Module. In both sequences, the enable/disable task is monitored for error and the successful completion tested. The ALM enable task is started with a positive edge at the mySwitchOn variable. In the following steps, the enable task is checked for successful completion and for error. After start of the enable task, the mySwitchOn variable is set to FALSE. The ALM disable task is started with a positive edge at the mySwitchOff variable. The value of the mySwitchOff variable is then set to FALSE. In the next step, the successful completion is tested and errors queried. Any errors that occur during the processing are indicated in the myError and myErrorId global variables and can be reset with the myAlmCtrl_In.reset variable.

PeripheralFaultALM program If the ALM module caused the errors, the PeripheralFaultTask start information is written in the myPftTsi global variable. If the processing of the start information produces a diagnostic or process alarm reported by the ALM, this will be indicated in the myDiagnosticAlarm or myProcessAlarm global variables.


Appendix AA.1 List of abbreviations

Table A- 1 Abbreviations

Abbreviation Meaning ALM Active line module FB Function block IN Input parameters LAD Ladder diagram OUT Output parameters STW Control word ZSW Status word

Appendix A.1 List of abbreviations



Index

A Addressing

Creating I/O variables, 12 Example, 13 FB call, 13 Parameter transfer, 13

ALM application example, 23

C Create instance, 11 Creating I/O variables, 12

E Error groups, 20 Error messages, 20 Example of an application, 11

F FB _ALM_control

Parameter description, 16 Task integration, 17

Function block Parameter description, 16 Task integration, 17

P Parameter transfer, 13 Product description, 10 Programming software, 11

R References, 3

Documents

SIMOTION Standard Function for Active Line Modules (ALM)