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TPM EasyPAC User Manual

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TPM
EasyPAC User Manual
EasyPAC
EPC-1000 User Manual
Version: V4.0 2011N24
To properly use the product, read this manual thoroughly is necessary.
Part NO.: 81-00EPC10-040
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Summary of Contents for TPM EasyPAC

  • Page 1 EasyPAC User Manual EasyPAC EPC-1000 User Manual Version: V4.0 2011N24 To properly use the product, read this manual thoroughly is necessary. Part NO.: 81-00EPC10-040...
  • Page 2 3. Append “Making memory address table from system file” in MyDataCheck section. 2011/11/24 1. Update the procedure of updating EasyPAC. 2. Update screenshots of chapter 5. 3. Update procedure of MyDataCheck to generate memory mapping table without the necessity of pressing “Generate” button.
  • Page 3 The product, including the product itself, the accessories, the software, the manual and the software description in it, without the permission of TPM Inc. (“TPM”), is not allowed to be reproduced, transmitted, transcribed, stored in a retrieval system, or translated into any language in any form or by any means, except the documentation kept by the purchaser for backup purposes.
  • Page 4 EasyPAC User Manual Electrical safely  To prevent electrical shock hazard, disconnect the power cable from the electrical outlet before relocating the system.  When adding or removing devices to or from the system, ensure that the power cables for the devices are unplugged before the signal cables are connected.

  • Page 5: Table Of Contents

    EasyPAC User Manual Contents CONTENTS ....................................5 1. INTRODUCTION ..................................8 1.1. B ......................................8 ASIC 1.1.1. Complete Industrial System Solution ........................8 1.1.2. Compact Size + Motionnet = High Extension and Integration ................9 1.2. F ....................................10 EATURES 1.3.
  • Page 6 6. MULTIPROG INTRODUCTIONS ............................... 95 6.1. MPE 5.35 ..............................96 XPRESS INSTALLATION 6.1.1. Install EasyPAC Software and Tools ........................99 6.1.2. Install MULTIPROG 5.35.252 Express ....................... 99 6.1.3. Install MULTIPROG Patch Files ........................103 6.1.4. Uninstall ................................104 6.2. T MULTIPROG P ...............................
  • Page 7 EasyPAC User Manual 6.6.4. Why the Command Input Is Edge Sensitive ...................... 136 6.6.5. Motion Function Block List ..........................143 6.6.6. EasyPAC Function Block List ........................... 190 6.6.7. Axis Parameter List ............................194 6.6.8. Function Block ErrorID List ..........................195 6.7.

  • Page 8: Introduction

    I/O interfaces provides industrial automation control industry easily access to the equipments. The front of the EasyPAC system includes one standard LAN port, two standard USB ports, two Motionnet ports, one GPIO connector (8 digital inputs and 8 digital outputs), two rotary switches, four COM ports (two RS-232 and two RS-422) and one optional PC104 expansion slot.

  • Page 9: Compact Size + Motionnet = High Extension And Integration

    EasyPAC User Manual Figure 1-1: EasyPAC offers complete software and tools 1.1.2. Compact Size + Motionnet = High Extension and Integration EasyPAC provides two Motionnet Rings:  Ring_0: For digital I/O, analog I/O and pulse counters.  Supports up to maximum 64 slave modules.

  • Page 10: Features

    Programming software tool: MULTIPROG5.35 Express  Power input spec.  Output voltage: 24V DC  Power Consumption: 7W 1.3. Hardware The following table shows the hardware specifications of EasyPAC: TPM EasyPAC Specifications 1. Vortex86DX 800 MHz 2. DDR2 RAM 256 MBytes 3. BIOS Flash...

  • Page 11: Software

    Motion FB: Visualized functional block based on MULTIPROG. It supports single and multiple axes. 1.5. Motionnet Devices EasyPAC is equipped with 2 two Motionnet masters named Ring_0 and Ring_1. Ring_0 is mostly for digital I/O and analog I/O and Ring_1 is for motion control. The detailed data is in the following table:...
  • Page 12 EasyPAC User Manual port of Motionnet Item Specifications Remark Ring_0 Ring_1 108-A122 8-ch analog input and 4-ch analog output 108-G180 DCON Gateway coming soon 108-P120 4-ch, 32 bites up-down counter 102-M1x1 1-axis Motion connector series BCD-4020FU 1-axis 2-phase stepper driver...

  • Page 13: System Architecture

    EasyPAC User Manual 1.6. System Architecture Figure 1-3: EasyPAC system architecture 1.7. 24V DC Power Module Features:  Universal AC input / Full range  Protections: Short circuit / Overload / Over Voltage...
  • Page 14 EasyPAC User Manual  Cooling by free air convection  Can be installed on DIN rail TS-35 / 7.5 or 15  NEC class 2 / LSP compliant  LED indicator for power on  DC OK relay contact ...

  • Page 15: Package List

    EasyPAC User Manual The detailed hardware specification is listed as the following table: Table 1-2: hardware specification 1.8. Package List Package list is as below:  EasyPAC EPC-1100  Specific power module  System CF card with built-in software license (WinCE5.0 / ProConOS)
  • Page 16 EasyPAC User Manual Note that if you have any question for package, please contact our local distributor or register on our web-site. We will offer the new library, template and demo programs.

  • Page 17: Hardware Installation

    EasyPAC User Manual 2. Hardware Installation 2.1. Dimension The outline dimension of EasyPAC is shown below. Figure 2-1: outline and dimension 2.2. Connectors All connectors and switches of EasyPAC are shown below. Figure 2-2: Connections of EasyPAC...

  • Page 18: Com Port - Com & Cn1

    2.2.1. COM Port – COM & CN1 EasyPAC is equipped with four COM ports, two RS-232 and two RS-485. They are deployed in COM (COM1 RS-422 & COM3 RS-232) and CN1 (COM2 RS-422 & COM4 RS-232) separately that is the D-SUB 15-pin connector.

  • Page 19: Gpio - Cn2

    EasyPAC User Manual Figure 2-4: CN1 pin assignment 2.2.2. GPIO – CN2 The pin definition of this 8DI/ 8DO connector is shown below: Figure 2-5: pin assignment of CN2 Digital GPIO input signal circuit in SINK mode (NPN) is illustrated as follows.
  • Page 20 EasyPAC User Manual Figure 2-6: signal circuit of input NPN Digital GPIO input signal circuit in SOURCE mode (PNP) is illustrated as follows. Figure 2-7: signal circuit of input PNP Digital GPIO output signal circuit in SINK mode (NPN) is illustrated as follows.

  • Page 21: Ring_0 - Cn3

    EasyPAC User Manual 2.2.3. Ring_0 – CN3 The Ring_0 of Motionnet on CN3 is used for digital input/ output and analog input/ output slave modules. The pin definition of this connector is in the following: Pin Pin Mark Pin Description...

  • Page 22: Dc Input

    Pin Description Power 24V Frame GND Table 2-4: main power connector pin assignment 2.2.6. USB Connector There are two sets of USB in the EasyPAC. The pin definition of this connector is in the following: USB signal USB signal USB_D0- USB_D1-...

  • Page 23: Rotary Switch

    Table 2-6: LAN connector pin assignment 2.3. Rotary Switch There are two rotary switches on EasyPAC. One is to set the run mode of system and the other is to set the baud-rate of Motionnet. 2.3.1. System Mode Setting – SW1 The SW1 is used to set the mode of EasyPAC.

  • Page 24: Motionnet Baud-Rate - Sw2

    EasyPAC User Manual 2.3.2. Motionnet Baud-Rate – SW2 The SW2 is used to set the baud-rate of Motionnet Rings. User can choose the baud-rate by switching SW2. The definition of this switch is as followed: The default setting is: Ring_0: 10Mpbs, Ring_1: 10Mbps.

  • Page 25: System Backup And Recovery

    EasyPAC User Manual 3. System Backup and Recovery EasyPAC provides a function for users to back up the whole system in a storage device and recover the system from the storage. Following are the step-by-step procedure to do backup and recovery.

  • Page 26: Motionnet Introduction

    EasyPAC User Manual 4. Motionnet Introduction 4.1. What Is Motionnet? Motionnet is a super high-speed serial communication system. The G9000 devices provide input/output control, motor control, CPU emulation and message communication with high speed serial communications (up to 20Mbps) all of which are required by current Factory Automation techniques. Motionnet always transfers 4 bytes of data in 15.1μsec using cyclic communication to control input and output.

  • Page 27: Advantage Of Motionnet

    EasyPAC User Manual  Systems can be isolated using pulse transformers.  Transfer speed up to 20 Mbps.  Maximum 64 slave devices for each serial line on a master device. Input/output control of up to 256 ports (2048 points), motion control of up to 64 axes.
  • Page 28 EasyPAC User Manual Number of local devices Communication cycle Remarks 256 input/output points can be used. 0.24 ms If all of the local devices connected are I/O devices, 512 input/output points can be used. 0.49 ms If all of the local devices connected are I/O devices, 1024 input/output points can be used.

  • Page 29: Motionnet Product Family

    EasyPAC User Manual 4.4. Motionnet Product Family Figure 4-4: EasyPAC and Motionnet product family...

  • Page 30: Software Utilities

    EasyPAC (IP address: 192.168.1.100) when the network cable is hooked up. If these two settings are correct, we can power up the EasyPAC. It will beep an alert sound if the system is successfully brought up and MyConfigSrv.exe will be started automatically. If there is no beep for a while means Ethernet failure or the IP address is in conflict with someone else.
  • Page 31 Figure 5-2: system information of EasyPAC 5.1.2.2 PAC Info Users can see the EasyPAC basic hardware information at the top half of the page. At the bottom half, users could set up IP address, subnet mask, gateway, admin password and guest password.
  • Page 32 Figure 5-4: change settings of IP, subnet mask, gateway, admin and guest password Note that only if the user is in the same network section can change the EasyPAC IP address. The IP address, subnet mask and gateway settings could be saved if the “Save” button is hit and will take effect after restarting the system.
  • Page 33 EasyPAC User Manual The upper frame shows information including 1: PC side version, 2: EasyPAC side version and 3: the latest version in FTP site. If the older version displays “?.?” indicates there is one or more components do not match with the newer version ones.
  • Page 34 If the update includes PC only, the following dialog will pop up. Figure 5-11: update complete dialog If the software update completes including EasyPAC, it will pop up a dialog saying the update completed. EasyPAC needs to reboot to apply new software.
  • Page 35 Secure ID: display the hardware id of the EasyPAC. Moreover, the system integrator could input the hardware id of other EasyPAC in the “Secure ID” text box to generate the corresponding AES key. EasyPAC provides an AES key encryption mechanism to protect our customers. The SI key is supposed to be 16 numeric digits.

  • Page 36: Mylink

    Press the recovery button and then reboot. The EasyPAC would roll back to the default IP address: 192.168.0.100. Now we could connect to it with MyConfig. The “PAC info” tab has previous set IP address shown in “Saved IPAddress”.

  • Page 37: Interface

    The supported master contains two kinds of devices – EasyPAC and USB-L131. If users select USB-L131, the baud rate option of Ring_0 and Ring_1 would be enabled. If users select EasyPAC as the master device, the baud rate would keep disabled since that is set by switching the rotary switch (SW2) on the front side of EasyPAC.

  • Page 38: Module Status

    Except USB-L131, it will show up two Motionnet masters at the top left corner – Ring_0 and Ring_1. If the master is EasyPAC, MyLink could save the profile according to data type designated for KW. Moreover, the slave modules besides axes control are supposed to connect to Ring_0 and axes control is supposed to connected to Ring_1.
  • Page 39 EasyPAC User Manual Figure 5-22: the property window If the parameter comes with a combo box means the input options are pre-arranged. If the input is a text box, users should key in the value needed within the acceptable range. The combo box for a parameter is shown as the following figure.

  • Page 40: Dio Module Operation

    The current connected slave module would be displayed in the system config area with 0 < IP < 33. It saves the system config structure in EasyPAC once the Save button is pressed. It would load the system structure from EasyPAC when the Load button is pressed.

  • Page 41: Aio Module Operation

    EasyPAC User Manual No setting is required for DIO module.  Operation The DO is connected with DI in the illustrated DIO module accordingly. When turn on the DO channel, both the DO and corresponding DI are ON. 5.2.4. AIO Module Operation 5.2.4.1 A104 &...
  • Page 42 EasyPAC User Manual Figure 5-30: 108-A122 slave module  Module Status The property sub-frame shows the information of 108-A122 with EEPROM. Figure 5-31: properties of 108-A122  Property The extensions of 108-A122 are inputs – Mode, Gain and ValueType and output – PowerOnValue. All parameter values could be stored in the EERPOM except the ValueType.
  • Page 43 EasyPAC User Manual  Operation The demo program is cross-connection from 4 outputs to 8 inputs separately (ex. AO1 – A1+ – A3+) Figure 5-32: screenshot of the example The program keeps polling of the analog input data. There are only a few options users could change –...
  • Page 44 EasyPAC User Manual Figure 5-34: save configuration dialog There are two targets of configuration storage – PAC and EEPROM This option is saving the configuration as an AI.kwcfg file and then transferring to PAC for KW use. It is not necessary to select devices from device list if the PAC checkbox is checked. Press the “Save”...
  • Page 45 EasyPAC User Manual Figure 5-35: saving status window  Duplication This function is made to efficiently duplicate configuration profiles among same type of modules. For example, users could duplicate the configuration profile to other 108-A122 from the settings of the previous bought identical type product.

  • Page 46: Pio Counter Module Operation

    EasyPAC User Manual Press the “LoadAll” to finish the recovery. The status window displays the recovery result with time stamps and messages. Figure 5-38: recovery status window Note that the recovery is just recovering to the specified devices, not saving to EEPROM. If the profile needs to be saved eternally, users still need to save it to the EERPOM.
  • Page 47 EasyPAC User Manual Cycle Time It is the time period between two sampling times. The default value is 2ms and maximum at 200ms. Mode 5 modes are available: Counter, Frequency, Period, GT and GC. Mode name Parameter Description – Counter mode...
  • Page 48 EasyPAC User Manual Mode name Parameter Description Lower Limit ms (0 ~ 4,294,967,295) AlarmOut When value < Lower Limit or value > Upper Limit Gate Time. To measure the Gate ON or OFF time with sampling – period 0.1ms. Time...

  • Page 49: Single Axis Module

    EasyPAC User Manual  Set Average to 1  Press StartChannel to get the measured value. Note: please remember to save the set parameters to EEPROM in case the set parameters are gone after reboot. Please go through AIO Module Operation subsection for reference.
  • Page 50 EasyPAC User Manual below: Figure 5-41: group up axes When the “Set Axis Groups” option is clicked, a dialog will pop up as the following figure. Figure 5-42: set group dialog The “None” option of the left and right side means the axes have not joined groups. Select the non-grouped axes with one of Group1~7 specified and press the arrow button “>>>”...
  • Page 51 EasyPAC User Manual Figure 5-44: file options  Save As mentioned above, a saving dialog will pop up if the “Backup Config to…” option is hit. There are 3 options – PC, PAC and EEPROM Figure 5-45: the saving dialog for group axes Users could select the axes to be saved in the tree diagram.
  • Page 52 EasyPAC User Manual would not be in the list. Modules within legal IP range will be saved as .kwcfg file in the PAC. EEPROM Modules with EEPROM are in the list. Users could select modules need to save the profile in the EEPROM and then press “Save”...
  • Page 53 EasyPAC User Manual  Edit Path File Users could edit the interpolation motion path and save it as a .kwpts file under “Tool  Edit Path” option. [Path] Figure 5-47: screenshot of the editing interpolation motion path This is the very first step to edit the motion path should be done before settings of the segments. Edit the parameters and press the “Edith Path Parameters”...
  • Page 54 “<<” to modify the previous added segment. If all the segments are finished, the “Save” button in the “Save Path to PAC” area will be enabled to save the path to EasyPAC as shown below. Figure 5-50: motion profile formed by segments...
  • Page 55 EasyPAC User Manual Figure 5-51: motion path of two axes interpolation [Path] Count=8 StrVel=100 MaxVel=6000 Tacc=0.1 Tdec=0.1 Curve: T [Segments] Seg1.Type=Line Seg1.Dist8=0 Seg1.Dist9=1000 Seg2.Type=Arc Seg2.Ax=8 Seg2.Ay=9 Seg2.Cx=1000 Seg2.Cy=0 Seg2.Ex=1000 Seg2.Ey=1000 Seg2.Dir=Cw Seg3.Type=Line Seg3.Dist8=2000 Seg3.Dist9=0 Seg4.Type=Arc...
  • Page 56 EasyPAC User Manual Seg4.Ax=8 Seg4.Ay=9 Seg4.Cx=0 Seg4.Cy=-1000 Seg4.Ex=1000 Seg4.Ey=-1000 Seg4.Dir=Cw Seg5.Type=Line Seg5.Dist8=0 Seg5.Dist9=-1000 Seg6.Type=Arc Seg6.Ax=8 Seg6.Ay=9 Seg6.Cx=-1000 Seg6.Cy=0 Seg6.Ex=-1000 Seg6.Ey=-1000 Seg6.Dir=Cw Seg7.Type=Line Seg7.Dist8=-2000 Seg7.Dist9=0 Seg8.Type=Arc Seg8.Ax=8 Seg8.Ay=9 Seg8.Cx=0 Seg8.Cy=1000 Seg8.Ex=-1000 Seg8.Ey=1000 Seg8.Dir=Cw The path file stores each segment motion of each axis as a .kwpts file. Rules for motion path file editing are listed below.
  • Page 57 EasyPAC User Manual MaxVel = 6000 Maximum velocity, unit is pps. Value is 0~6666666, must be > StrVel Tacc = 0.1 Acc. time unit is sec, data type is float Tdec = 0.1 Dec. time unit is sec, data type is float...
  • Page 58 EasyPAC User Manual All the signals are displayed in green background after the hardware properties are set. The single axis motion window is shown in the following figure. Figure 5-52: screenshot of axis control window Before testing the axis, it is necessary to make the motor servo on. The “SVON” signal will become from green to red.
  • Page 59 EasyPAC User Manual Figure 5-54: restore from error state With respect to the group axes, the “SVON” action should be done as mentioned. Users could check the group folder to bring up the axis group option. Figure 5-55: check the group folder to update axis parameters The window of grouped axes properties is as the following figure.
  • Page 60 EasyPAC User Manual Figure 5-57: axis properties window MoveMode: the options are Relative or Absolute move. StopMode: the options are abrupt stop or slow down stop VelProfile: the options are T-curve or S-curve InterpolationMode: the options are Line or Arc The group operation depends on the VelProfile (Line/Arc).

  • Page 61: Mydatacheck

    There are 3 types of memory: INPUT (%I), OUTPUT (%Q), VARCONF (%M). Figure 5-60: three tabs of each type of memory Ring_0 of EasyPAC supports up to 48 DIO modules and 16 (IP48~IP63) AIO or PIO modules. INPUT/OUTPUT is explained in the following:...
  • Page 62 EasyPAC User Manual = 1 + 48 (IP) x 4 (Port) x 1 (Byte) + 16 (IP) x 8 (Channel) x 2 (Byte) = 1 + 192 + 256 = 449 (Byte)
  • Page 63 EasyPAC User Manual The reference table is shown below. Type Length (Byte) Local DI Non Retain INPUT (%I) Motionnet DI 0 ~ 448 Motionnet AI Local DO Non Retain OUTPUT (%Q) Motionnet DO 0 ~ 448 Motionnet AO MB (Coil)
  • Page 64 EasyPAC User Manual VARCONF Virtual variable (%M) %MX: used for BOOL type %MB: used for BYTE type %MW: used for WORD type %MD: used for DWORD type The following 8 non-retain data types are designed for Modbus: MB (Coil): is mapped to Tag for Modbus.

  • Page 65: Data Address Mapping

    MB(Discrete Input) 1544 (BOOL) 9735 (BOOL) MB(Input Register) 128 (WORD) 639 (WORD) User Define Motion(Single) Motion(Multiple) Gateway User Define Table 5-3: Modbus memory table 5.3.1. Data Address Mapping MyDataCheck is designed for data transforming of Motionnet slave modules supported by EasyPAC.
  • Page 66 EasyPAC User Manual Figure 5-61: MyDataCheck icon and main window Title: MyDataCheck V11.819.0.3 is the version information. Virtual: is for virtual Memory Address mapping. Ring_0: is for Motionnet DIO/AIO/PIO modules address mapping. Ring_1: is for Motionnet Axis Module address mapping.
  • Page 67 EasyPAC User Manual 5.3.1.2 Ring_1 Memory Address Mapping Figure 5-63: Ring_1 memory address mapping The available Axis module for Ring_1 is listed here. IP: IP1~IP32 is for single axis module. IP1 = AXIS_01 and IP32 = AXIS_32. Mode: Select the Modbus type.

  • Page 68: Address Mapping Table

    EasyPAC User Manual Modbus Data: Modbus data is mapped to %M of MULTIPROG. EasyPAC Data: %M of MULTIPROG is mapped to Modbus data. 5.3.2. Address Mapping Table Data type of Modbus is in the following table. Primary tables Object type...
  • Page 69 EasyPAC User Manual Ring_0 AI/O and Counter COUNTER MODBUS MODBUS Input Registers Holding Registers %IW 193 %ID 193 %QW 193 %IW 195 %QW 195 %IW 197 %ID 197 %QW 197 %IW 199 %QW 199 %IW 201 %ID 201 %QW 201...
  • Page 70 EasyPAC User Manual Ring_1 Axis AXES MODBUS Input Registers Begin DEC HEX DEC HEX AXIS_01.1 Command 280 641 281 AXIS_01.2 Position 282 643 283 AXIS_01.3 current velocity 644 284 645 285 AXIS_01.4 io_status 286 647 287 AXIS_01.5 motion done 648 288 648 288 Table 5-7: table of Ring_1 axis IP: “1”...
  • Page 71 EasyPAC User Manual AXIS_01.5 motion done: WORD Motion done is the axis status, WORD, value is 0x0000~0x000B, 0x000C ~ 0xFFFF is reserved. 0x0000: Stop 0x0001: Wait STA 0x0002: Wait ERC finish 0x0003: Wait Dir change 0x0004: BackLashing 0x0005: Wait PA/PB...

  • Page 72: Making Memory Address Table From System File

    EasyPAC User Manual Digital input: MODBUS Discrete Input Begin Begin DEC HEX DEC HEX B 3. X 3. 2048 2048 0 2048 7 1544 608 1551 60F Table 5-9: digital input of virtual data Digital Input is described in the following %MB 3.2048 = Discrete Input 1544 ~ Discrete Input 1551...

  • Page 73: Mapping Tables

    EasyPAC User Manual Figure 5-65: generated memory address table by .mcg file Relative functions are listed. Select the system file generated by MyLink. Save: Save the result in text format which is readable and editable by Excel. Mode: Select the Modbus data format.
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  • Page 95: Multiprog Introductions

    MULTIPROG Express is an IEC-61131 Programming System developed by KW and 5.35 is a compact version to be used with EasyPAC. The main features of MP Express 5.35 are No. of IO per project 128 KB No. of User Task No.

  • Page 96: Mpexpress5.35 Installation

    Memory: 1GB RAM OS: Windows 2000/XP/Win7 (32, 64) LAN card: RJ-45 10/100/1000 Mbps Software Installation Install EasyPAC software and tools Install MULTIPROG 5.35.252 Express Install MULTIPROG Patch Files Software Version Run the successfully installed MULTIPROG 5.35 Express as shown below Figure 6-1: installed MULTIPROG Express Make sure the software version by the following figure illustrates.
  • Page 97 Figure 6-3: the software version window There is a CD that is shipped together with the EasyPAC. Please follow these steps below to finish the installation. Insert the CD into your PC and you will be asked to permit auto-installation. Please enter YES to allow auto-installation as shown.
  • Page 98 EasyPAC User Manual Figure 6-5: procedure to setup EasyPAC Press option “Install EasyPAC Software and Tools” to start setup EasyPAC related software and utilities. Figure 6-6: install the correct utilities for EasyPAC...

  • Page 99: Install Easypac Software And Tools

    EasyPAC User Manual 6.1.1. Install EasyPAC Software and Tools The default installation location is C:\TPM\EasyPAC. It is easy to complete the installation by click on the “Finish” button as shown below. Figure 6-7: click Finish button to complete the installation 6.1.2.
  • Page 100 EasyPAC User Manual Files\KW-Software. If the operating system is Windows 7 64bit, the location would be C:\Program Files (86)\KW-Software. Please do not modify the default location in case of patch failure hereafter. The installation procedure installs the following software in sequence.
  • Page 101 EasyPAC User Manual Figure 6-11: accept the license agreement Please leave the installation path as the default one and press “Next” to continue. Figure 6-12: leave the default path unchanged Please press “Finish” to finish the installation. Figure 6-13: installation finish...
  • Page 102 EasyPAC User Manual Then the wizard would lead to install MULTIPROG ProConOS AddOn automatically. Figure 6-14: installation of MULTIPROG ProConOS AddOn After finishing this step, all the KW development environment setup is completed.

  • Page 103: Install Multiprog Patch Files

    EasyPAC User Manual 6.1.3. Install MULTIPROG Patch Files When MULTIPOROG completes its installation, select “Install MULTIPROG Patch Files” at the main menu of the installation wizard. Figure 6-15: install MULTIPROG patch file When the completion screen is shown means the patch file is successfully installed in the system. Please take out the CD and keep it properly.

  • Page 104: Uninstall

    6.1.4. Uninstall All the software installed could be easily removed by selecting “Uninstall all for Win32” (“Uninstall all for Win64”) button. The uninstall shield will lead you to remove EasyPAC related software as following figures. Figure 6-17: uninstall shield illustration...

  • Page 105: The First Multiprog Project

    EasyPAC User Manual 6.2. The First MULTIPROG Project 6.2.1. Create a New Project The following figure shows how to create a project from a TPM template. Figure 6-19: create a new project...

  • Page 106: Di Test

    EasyPAC User Manual 6.2.2. DI Test Set V000 ~ V003 as shown below: V000 I/O address %IB 1 (IP0: DI port1 input) V001 I/O address Blank V002 I/O address %IB 2 (IP0: DI port2 input) V003 I/O address Blank Figure 6-20: edit a variable in MULTIPROG...

  • Page 107: Compile

    EasyPAC User Manual 6.2.3. Compile Click on the “Make” button to compile the project. Figure 6-21: making a project...

  • Page 108: Download

    EasyPAC User Manual 6.2.4. Download Please left-click on Project Control to download the compiled file to EasyPAC as shown below. Figure 6-22: download sequence 6.2.5. Debug Click the “Debug on” to activate the debug mode. Figure 6-23: enable the debug mode...

  • Page 109: Interface Description

    EasyPAC User Manual 6.3. Interface Description Figure 6-24: MULTIPROG main window with 3 icons activated There are 3 icons highlighted in the above from left to right are individually: 1. Project Tree: Project Tree Window can display the project in a tree structure.

  • Page 110: Create And Edit A Project

    Figure 6-26: create a new project Please select “TPM Template” as the basic framework. Figure 6-27: TPM Template in creation of a new project Press OK then the following window will be popped up as below. Figure 6-28: main window of MULTIPROG...

  • Page 111: Edit With Ld

    EasyPAC User Manual Project Tree Window and Edit Wizard are shown in the above picture. Double-click on INIT_AXES in the Project Tree Window to open the edit window as shown above. There are 5 programming languages available in the MULTIPROG Express 5.35 tool. The sample program with LD will be explained in the next section.
  • Page 112 EasyPAC User Manual A pop-up window shows “Invalid name!” in this example. All the symbols including space are not allowed to input as the name and the first character could not be a number. The following example is an example with legal name.
  • Page 113 EasyPAC User Manual Figure 6-33: make a Contact right for instance Mouse-click on the gray area and bring up the functions by right clicking on it. Figure 6-34: functions of the contact After selecting the “Object Properties…” the following window will show up.
  • Page 114 EasyPAC User Manual Figure 6-35: contact/coil properties window Please enter the name in the “Name:” field and select BOOL as the data type. Enter either VAR or VAR_GLOBAL in the “Usage” field. Note that VAR indicates that it will be used only by this POU and VAR_GLOBAL indicates that it can be accessed by other POU.
  • Page 115 EasyPAC User Manual Figure 6-37: the contact / coil properties Add a B type contact by selecting Contact right and modify the name as shown below. Figure 6-38: change type of the Inside_coil01 Please change the name as “Inside_coil01” and select BOOL, VAR and B Type contact then click OK to finish.

  • Page 116: Function Block (Fb) And Ld

    EasyPAC User Manual The IO address is not assigned automatically and will be done later. The use of FB’s or FU’s will be introduced in the next section. 6.4.2. Function Block (FB) and LD A timer will be added to the above mentioned example. Select TON (Timer On-Delay) in the Edit Wizard by double-clicks on it.
  • Page 117 EasyPAC User Manual Figure 6-41: the help file The sample of TON is illustrated and the IL/ST related information is also available. FB can be moved behind the contact and connect it with direct wiring as shown below. Figure 6-42: TON FB example with timer input PT Double-click on the blue point of PT to enter the desired timer value.
  • Page 118 EasyPAC User Manual Figure 6-44: TON FB example with coil output Q specified After setting name, data type and usage, users could select R_TRIG in the “Edit Wizard” and double click on it to name it as “R_TRIG_1” and press OK. Please then left-click on the blue point of CLK to make it blue as shown below.
  • Page 119 EasyPAC User Manual Figure 6-47: add an ending on the end Use Connect to connect all nodes and powerrail as shown below. Figure 6-48: all nodes are connected by "Connect" The program flow control will be illustrated in the following part. This is similar to “if …then…else” in C language.
  • Page 120 EasyPAC User Manual Figure 6-51: help file for MUL Set the parameter initial value to 1. These data types SINT, INT, DINT, USINT, UINT and UDINT can be set. The reference table is listed below. SINT Short Integer 8Bit -128~127...
  • Page 121 EasyPAC User Manual Figure 6-52: specify the name and value for the MUL Enter jump00 as the Name and select Label and then click OK. Complete the sample program and add a new GE FB as shown below. Figure 6-53: consolidate all function blocks with SUB FB added...

  • Page 122: Settings Of Register And I/O

    EasyPAC User Manual Figure 6-54: MOVE with label "jump01" 6.4.3. Settings of Register and I/O The hardware settings have VAR and VAR_GLOBAL types. With GLOBAL means the I/O could be shared. IO_Configuration circled by red rectangular shown above is used for I/O address configuration. Please refer...
  • Page 123 EasyPAC User Manual Table 6-2: available I/O table with the corresponding options 1. Name: Name can be English or Chinese characters. The first character cannot be a number. 2. Type: Several data types including BOOL/BYTE/WORD etc. are supported. 3. Usage: Can be local – VAR or global variable – VAR_GLOBAL.
  • Page 124 EasyPAC User Manual The sample project is opened with default setting as shown below. Figure 6-55: the FBs dumped under Variables... Double click on the “LD_sample” and the following window will pop up. Figure 6-56: the FB details “Inside_coil01” could be used in other programs in the same project. The usage must be set as VAR_GLOBAL.

  • Page 125: I/O Configurations

    EasyPAC User Manual 6.4.4. I/O Configurations Double-click on IO_Configuration and the following window will pop up. Figure 6-58: the IO configuration window Select the designated input/output and then hit the “Properties” button to check the properties. Figure 6-59: check input/output parameters Name: Enter the name here.

  • Page 126: Downloading And Debugging

    If the “Driver Parameters…” button is pressed, the driver information window would come up. Figure 6-60: the driver information window Note that the only valid driver name is EasyPAC. Any others will not be accepted. The “Datatype” field could be left default.
  • Page 127 EasyPAC User Manual Figure 6-62: get EasyPAC information from ProConOS  Settings... Please set the parameter as shown below and click OK. Figure 6-63: set the IP parameter Then click on “Project Control” icon.
  • Page 128 EasyPAC User Manual Figure 6-64: the project control option Click on “Download” to download the program. When users download the project, please check the “Include Bootproject”. Figure 6-65: include the Bootproject into the project to be downloaded PLC Run Mode is described in the following ...
  • Page 129  SPG 2 (is executed if the program is stopped)  I/O driver function EasyPAC (ProConOS) Boot The EasyPAC run mode depends on Rotary Switch 1 setting as shown below: Default IP address + MyConfigSvr MyConfigSvr MyLinkSvr 7 ~ 9: ProConOS + Modbus RTU Server.
  • Page 130 EasyPAC User Manual Figure 6-67: FB with debug function turned on Jump is used to avoid fast continuous execution of Add. GE means Great/Equal. MUL will be activated once after 1 sec. Figure 6-68: FB with debug function turned on This program is similar to binary output as shown below: 1,2,4,8,16,32,64,128,256,512,1024,2048,4096…...
  • Page 131 EasyPAC User Manual Figure 6-69: FB with debug function turned on The “OUT (0x1FFF)” will be outputted from the DO module of IP 0, because the “OUT” was set to %QW 1.

  • Page 132: Function Block

    This part is adopted from the PLCopen for motion control specification, and includes additional information for functionality with TPM and other components. Each function block is listed in alphabetical order, and is also linked to the feature or function from the software environment. A comprehensive list of axis parameters and error codes is at the back of the manual.
  • Page 133 EasyPAC User Manual...

  • Page 134: Error Handling

    EasyPAC User Manual 6.6.2. Error Handling All access to the drive/motion control is via Function Blocks. Internally these Function Blocks provide basic error checking on the input data. Figure 6-70: function blocks with error handling 6.6.3. Function Block Interface General rules The following table provides general rules about the interface of the Motion Control function blocks.
  • Page 135 EasyPAC User Manual on the same instance), the FB won’t return any feedback, like ‘Done’ or ‘CommandAborted’, for the previous action. Input parameters The parameters are read at the rising edge of the 'Execute' input. To modify any parameter, it is necessary to change the input parameter(s) and trigger the 'Execute' again.

  • Page 136: Why The Command Input Is Edge Sensitive

    EasyPAC User Manual 'Busy' output indicates that the FB is not finished. 'Busy' is SET at the rising edge of 'Execute' and RESET when one of the outputs 'Done', 'Aborted', or 'Error' is set. It is recommended that this FB should be kept in the active loop of the application program for at least as long as ‘Busy’...
  • Page 137 EasyPAC User Manual “First” has completed, the output 'First.Done' triggers 'Second.Execute'. The output 'Second.Done' AND “In13” trigger 'Third.Execute'. Figure 6-72: function blocks sequence...
  • Page 138 EasyPAC User Manual Example 1: Same Function Block instance controls different motions of an axis The figure below shows an example where the Function Block FB1 is used to control “AxisX” with three different values of Velocity. In a Sequential Function Chart (SFC) the velocity 10, 20, and 0 is assigned to V.
  • Page 139 EasyPAC User Manual Example 2: Different FB instances control the motions of an axis Different instances related to the same axis can control the motions on an axis. Each instance will then be responsible for one part of the global profile.
  • Page 140 EasyPAC User Manual Standard behavior of 2 following absolute movements...
  • Page 141 EasyPAC User Manual...
  • Page 142 EasyPAC User Manual Rules for the definition of Motion Control function blocks according to PLCopen The input/output variables of the function blocks mandatory according to the PLCopen Standard are marked with the letter 'B' in the defined tables in the definition of the function blocks.

  • Page 143: Motion Function Block List

    FB is not correct. ErrorID can be used to check. Valid/Done, Busy/ Active, CommandAborted and Error are mutually incompatible. When “Error” is TRUE, ErrorID is not 0. The available Motion FB of EasyPAC is listed in the following table: Index...
  • Page 144 EasyPAC User Manual Index Motion FB Name Description 6.6.5.18 MC_ReadAxisInfo Read the designated axis information 6.6.5.19 MC_ReadBoolParameter Get BOOL type data 6.6.5.20 MC_ReadParameter Get unsigned double integer type data 6.6.5.21 MC_ReadStatus Read the status of the axis 6.6.5.22 MC_Reset Reset the axis to standstill status 6.6.5.23 MC_Stop...
  • Page 145 EasyPAC User Manual 6.6.5.1 GA_GroupDisable Function Disable the grouped motion function. Input Parameters Name Type Description AxesGroup AXIS_GROUP_REF Reference to the group of axes. Execute BOOL Please refer to the Execution Logic at section 6.6.5. Output Parameters Name Type Description...
  • Page 146 EasyPAC User Manual 6.6.5.2 GA_GroupEnable Function Enable the grouped motion function. Input Parameters Name Type Description AxesGroup AXIS_GROUP_REF Reference to the group of axes. Execute BOOL Please refer to the Execution Logic at section 6.6.5. Output Parameters Name Type Description...
  • Page 147 EasyPAC User Manual 6.6.5.3 GA_GroupReset Function Reset grouped axes to StandStill. Input Parameters Name Type Description AxesGroup AXIS_GROUP_REF Reference to the group of axes. Execute BOOL Please refer to the Execution Logic at section 6.6.5. Output Parameters Name Type Description...
  • Page 148 EasyPAC User Manual 6.6.5.4 GA_GroupStop Function Grouped axes stop. Input Parameters Name Type Description AxesGroup AXIS_GROUP_REF Reference to the group of axes. Execute BOOL Please refer to the Execution Logic at section 6.6.5. StopMode BOOL 0 for immediate stop, 1 for SlowDown stop...
  • Page 149 EasyPAC User Manual 6.6.5.5 GA_MoveCircularAbsolute Function Make a grouped axes absolute circular motion with T-curve or S-curve. Input Parameters Name Type Description AxesGroup AXIS_GROUP_REF Reference to the group of axes. Execute BOOL Please refer to the Execution Logic at section 6.6.5.
  • Page 150 EasyPAC User Manual Output Parameters Name Type Description AxesGroup AXIS_GROUP_REF Reference to the group of axes. Done BOOL ‘Standstill’ or ‘Disabled’ state is reached. BOOL The FB is not finished and new output values are to be Busy expected. Active BOOL Indicates that the FB has control of the axis.
  • Page 151 EasyPAC User Manual 6.6.5.6 GA_MoveCircularRelative Function Make a grouped axes relative circular motion with T-curve or S-curve. Input Parameters Name Type Description AxesGroup AXIS_GROUP_REF Reference to the group of axes. Execute BOOL Please refer to the Execution Logic at section 6.6.5.
  • Page 152 EasyPAC User Manual Output Parameters Name Type Description AxesGroup AXIS_GROUP_REF Reference to the group of axes. Done BOOL ‘Standstill’ or ‘Disabled’ state is reached. The FB is not finished and new output values are to be Busy BOOL expected. Active BOOL Indicates that the FB has control of the axis.
  • Page 153 EasyPAC User Manual 6.6.5.7 GA_MoveLinearAbsolute Function Make a grouped axes absolute linear motion with T-curve or S-curve. Input Parameters Name Type Description AxesGroup AXIS_GROUP_REF Reference to the group of axes. Execute BOOL Please refer to the Execution Logic at section 6.6.5.
  • Page 154 EasyPAC User Manual 6.6.5.8 GA_MoveLinearRelative Function Make a grouped axes relative linear motion with T-curve or S-curve. Input Parameters Name Type Description AxesGroup AXIS_GROUP_REF Reference to the group of axes. Execute BOOL Please refer to the Execution Logic at section 6.6.5.
  • Page 155 EasyPAC User Manual 6.6.5.9 GA_MovePath Function Make a continuous motion with multiple segments. Input Parameters Name Type Description AxesGroup AXIS_GROUP_REF Reference to the group of axes. Execute BOOL Please refer to the Execution Logic at section 6.6.5. RepeatCount UINT The path repeat count for a motion.
  • Page 156 EasyPAC User Manual 6.6.5.10 GA_PathSelect Function Select and download the continuous path from xxxx.kwpts. Input Parameters Name Type Description AxesGroup AXIS_GROUP_REF Reference to the group of axes. Execute BOOL Please refer to the Execution Logic at section 6.6.5. The path string indicating the motion path which is...
  • Page 157 EasyPAC User Manual 6.6.5.11 MC_Home Function Do homing of the axis. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Execute BOOL Please refer to the Execution Logic at section 6.6.5. StartVelocity DWORD Start velocity. MaxVelocity DWORD End velocity.
  • Page 158 EasyPAC User Manual 6.6.5.12 MC_MoveAbsolute Function Make an absolute motion with T-curve or S-curve. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Execute BOOL Please refer to the Execution Logic at section 6.6.5. Position DINT (-134217728 ~ +134217728) Absolute target position of the motion.
  • Page 159 EasyPAC User Manual 6.6.5.13 MC_MoveRelative Function Make a relative motion with T-curve or S-curve. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Execute BOOL Please refer to the Execution Logic at section 6.6.5. Distance DINT (-134217728 ~ +134217728) Relative target position of the motion.
  • Page 160 EasyPAC User Manual 6.6.5.14 MC_MoveVelocity Function Make a velocity motion with T-curve or S-curve. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Execute BOOL Please refer to the Execution Logic at section 6.6.5. StartVelocity DWORD Start velocity.
  • Page 161 EasyPAC User Manual 6.6.5.15 MC_Power Function Enable Servo/Step Driver for IP1~IP32 (AXIS_01~AXIS_32). Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Execute BOOL Please refer to the Execution Logic at section 6.6.5. AxisIP USINT The IP address of the axis.
  • Page 162 EasyPAC User Manual 6.6.5.16 MC_ReadActualPosition Function Get the axis actual position from encoder. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Enable BOOL Get the value of the parameter continuously while enabled. Output Parameters Name Type Description...
  • Page 163 EasyPAC User Manual 6.6.5.17 MC_ReadAcutalVelocity Function Get the axis actual velocity from encoder. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Enable BOOL Get the value of the parameter continuously while enabled. Output Parameters Name Type Description...
  • Page 164 EasyPAC User Manual 6.6.5.18 MC_ReadAxisInfo Function Get the axis information. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Enable BOOL Get the value of the parameter continuously while enabled. Output Parameters Name Type Description Axis AXIS_REF Reference to the axis.
  • Page 165 EasyPAC User Manual 6.6.5.19 MC_ReadBoolParameter Function Get the axis value of type BOOL. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Enable BOOL Get the value of the parameter continuously while enabled. ParameterNumber Please refer to section 6.6.7 for details.
  • Page 166 EasyPAC User Manual 6.6.5.20 MC_ReadParameter Function Get the axis value of type UDINT. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Enable BOOL Get the value of the parameter continuously while enabled. ParameterNumber Please refer to section 6.6.7 for details.
  • Page 167 EasyPAC User Manual 6.6.5.21 MC_ReadStatus Function Get the axis status. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Enable BOOL Get the value of the parameter continuously while enabled. Output Parameters Name Type Description Axis AXIS_REF Reference to the axis.
  • Page 168 EasyPAC User Manual Name Type Description DiscreteMotion BOOL Axis is executing discrete motion when this value is TRUE. ContinuousMotion BOOL Axis is executing continuous motion when this value is TRUE. SynchronizedMotion BOOL Axis is executing synchronized motion when this value is TRUE.
  • Page 169 EasyPAC User Manual 6.6.5.22 MC_Reset Function Reset the axis to Standstill status. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Execute BOOL Please refer to the Execution Logic at section 6.6.5. Output Parameters Name Type Description Axis AXIS_REF Reference to the axis.
  • Page 170 EasyPAC User Manual 6.6.5.23 MC_Stop Function Grouped axes stop. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. If “Execute” were TRUE, status is always “Stopping”. If “Execute” changes from TRUE to FALSE, status is “Stopping” Execute BOOL while the axis is still moving, status will change to “StandStill”...
  • Page 171 EasyPAC User Manual 6.6.5.24 MC_WriteBoolParameter Function Set BOOL type data. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. If “Execute” were TRUE, status is always “Stopping”. If “Execute” changes from TRUE to FALSE, status is “Stopping” Execute BOOL while the axis is still moving, status will change to “StandStill”...
  • Page 172 EasyPAC User Manual 6.6.5.25 MC_WriteEncoderPosition Function Set the encoder value. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Execute BOOL Please refer to the Execution Logic at section 6.6.5. DINT EncoderPosition Encoder position value. (-134217728 ~ +134217728)
  • Page 173 EasyPAC User Manual 6.6.5.26 MC_WriteLogicPosition Function Set the logical position value. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Execute BOOL Please refer to the Execution Logic at section 6.6.5. DINT LogicPosition Logical position value. (-134217728 ~ +134217728)
  • Page 174 EasyPAC User Manual 6.6.5.27 MC_WriteParameter Function Set the logical position value. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Execute BOOL Please refer to the Execution Logic at section 6.6.5. ParameterNumber Please refer to section 6.6.7 for details.
  • Page 175 EasyPAC User Manual 6.6.5.28 SA_CheckSystemConfig Function Check the system configuration. Input Parameters Name Type Description Execute BOOL Please refer to the Execution Logic at section 6.6.5. Output Parameters Name Type Description Check to see if the system configuration matches with MyLink...
  • Page 176 EasyPAC User Manual 6.6.5.29 SA_ErrorJog Function Move the axis out of limit sensor. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Execute BOOL Please refer to the Execution Logic at section 6.6.5. DINT Distance The relative position.
  • Page 177 EasyPAC User Manual 6.6.5.30 SA_GetSensor Function Move the axis out of limit sensor. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Enable BOOL Get the value of the parameter continuously while enabled. Output Parameters Name Type Description...
  • Page 178 EasyPAC User Manual Name Type Description Driver alarm is enabled when Alarm is TRUE. MC_Reset is needed to Alarm BOOL reset the system. Axis is on the positive limit when PostiveLimi is TRUE. SA_ErrorJog PositiveLimit BOOL is applicable to move the axis. MC_Reset is needed to reset the system.
  • Page 179 EasyPAC User Manual 6.6.5.31 SA_LoadConfigFile Function Move the axis out of limit sensor. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Execute BOOL Please refer to the Execution Logic at section 6.6.5. Output Parameters Name Type Description...
  • Page 180 EasyPAC User Manual 6.6.5.32 SA_ReadByteParameter Function Get the parameter value of type BYTE. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Enable BOOL Get the value of the parameter continuously while enabled. ParameterNumber Please refer to section 6.6.7 for details.
  • Page 181 EasyPAC User Manual 6.6.5.33 SA_ReadDintParameter Function Get the parameter value of type double integer. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Enable BOOL Get the value of the parameter continuously while enabled. ParameterNumber Please refer to section 6.6.7 for details.
  • Page 182 EasyPAC User Manual 6.6.5.34 SA_ReadDwordParameter Function Get the parameter value of type double word. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Enable BOOL Get the value of the parameter continuously while enabled. ParameterNumber Please refer to section 6.6.7 for details.
  • Page 183 EasyPAC User Manual 6.6.5.35 SA_ReadIntParameter Function Get the parameter value of type integer. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Enable BOOL Get the value of the parameter continuously while enabled. ParameterNumber Please refer to section 6.6.7 for details.
  • Page 184 EasyPAC User Manual 6.6.5.36 SA_ReadUsintParameter Function Get the parameter value of type unsigned integer. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Enable BOOL Get the value of the parameter continuously while enabled. ParameterNumber Please refer to section 6.6.7 for details.
  • Page 185 EasyPAC User Manual 6.6.5.37 SA_WriteByteParameter Function Get the parameter value of type BYTE. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Enable BOOL Get the value of the parameter continuously while enabled. ParameterNumber Please refer to section 6.6.7 for details.
  • Page 186 EasyPAC User Manual 6.6.5.38 SA_WriteDintParameter Function Get the parameter value of type double integer. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Enable BOOL Get the value of the parameter continuously while enabled. ParameterNumber Please refer to section 6.6.7 for details.
  • Page 187 EasyPAC User Manual 6.6.5.39 SA_WriteDwordParameter Function Get the parameter value of type double word. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Enable BOOL Get the value of the parameter continuously while enabled. ParameterNumber Please refer to section 6.6.7 for details.
  • Page 188 EasyPAC User Manual 6.6.5.40 SA_WriteIntParameter Function Get the parameter value of type integer. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Enable BOOL Get the value of the parameter continuously while enabled. ParameterNumber Please refer to section 6.6.7 for details.
  • Page 189 EasyPAC User Manual 6.6.5.41 SA_WriteUsintParameter Function Get the parameter value of type unsigned integer. Input Parameters Name Type Description Axis AXIS_REF Reference to the axis. Enable BOOL Get the value of the parameter continuously while enabled. ParameterNumber Please refer to section 6.6.7 for details.

  • Page 190: Easypac Function Block List

    EasyPAC User Manual 6.6.6. EasyPAC Function Block List 6.6.6.1 EP_SetCyclicTime Function Set the PLC cycle times and baud rates according to the number of slave modules. Input Parameters Name Type Description Enable BOOL Get the value of the parameter continuously while enabled.
  • Page 191 EasyPAC User Manual 6.6.6.2 EP_GetVersion Function Set the PLC cycle times and baud rates according to the number of slave modules. Input Parameters Name Type Description Execute BOOL Please refer to the Execution Logic at section 6.6.5. Output Parameters Name...
  • Page 192 EasyPAC User Manual 6.6.6.3 EP_CheckAesKey Function Check the AESkey set from EP_SetAesKey. Input Parameters Name Type Description Execute BOOL Please refer to the Execution Logic at section 6.6.5. Key1 ~ Key16 SI key with number from 0 to 9. Output Parameters...
  • Page 193 EasyPAC User Manual 6.6.6.4 EP_SetAesKey Function Set the AES key in the system non-volatile memory. Input Parameters Name Type Description Execute BOOL Please refer to the Execution Logic at section 6.6.5. Key1 ~ Key8 WORD Set the encrypted AesKey which is from 0x0000 to 0xFFFF.

  • Page 194: Axis Parameter List

    EasyPAC User Manual 6.6.7. Axis Parameter List The following tables contain the axis parameters which can be read or written. This is a comprehensive list that contains parameters that may not be applicable for all types of axes. For each parameter the following...

  • Page 195: Function Block Errorid List

    EasyPAC User Manual 6.6.8. Function Block ErrorID List Error Handle Number Description No error appear Missing axis configuration parameters Invalid axis The axis had been initialed already The axis was not initialed before Out of axis number Illegal FB execute...

  • Page 196: Sample Programs

    EasyPAC User Manual 6.7. Sample Programs The sample program can be found in the following directory: C:\TPM\EasyPAC\sample 1. AIO 2. Counter 3. Single Axis 4. Grouped Axes 5. HMI_DIO 6.7.1. AI/O Module wiring 106-A104-01 and 106-A180-01 are used in this example. The IP of 106-A104-01 is set as 61 and 106-A180-01 as 62.
  • Page 197 2. Test display of 106-A104-01 and 106-A180-01 Figure 6-75: display of 106-A104-01 and 106-A180-01 Create a MULTIPROG project Start MULTIPROG Figure 6-76: start MULTIPROG Click on FileNew Project Figure 6-77: create a new project Use TPM Template as shown below...
  • Page 198 EasyPAC User Manual Figure 6-78: new project template Click on “Untitled” Figure 6-79: click on the Untitled* Add new variable and set the I/O address Check and set the I/O address with MyDataCheck Use MyDataCheck for 106-A180-01 Figure 6-80: configure I/O address of 106-A180-01...
  • Page 199 EasyPAC User Manual Use MyDataCheck for 106-A104-01 Figure 6-81: configure I/O address of 106-A104-01 Add a new variable and name it as AI_Channel_0 of 106-A180-01 Figure 6-82: add a variable of 106-A180-01 Add a new variable and name it as AI_Channel_1 of 106-A180-01...
  • Page 200 EasyPAC User Manual Add a new variable and name it as AI_Channel_2 of 106-A180-01 Figure 6-84: add a variable of 106-A180-01 Add variables AI_Channel_3, AI_Channel_4, AI_Channel_5, AI_Channel_6 and AI_Channel_7 of 106-A180-01 following the foregoing method. Also add variables AO_Channel_0, AO_Channel_1, AO_Channel_2 and AO_Channel_3 in the same way.

  • Page 201: Counter

    Table 6-7: counter module wiring table Configure 108-P120 with MyLink Set the EasyPAC mode to run MyLink and use MyLink to check the corresponding settings. The detailed information of 108-P120 can be found in the manual. The setting for this sample program is shown below.
  • Page 202 EasyPAC User Manual Figure 6-87: configuration of 108-P120 Test 108-P120 with MyLink Set as shown above and click on Start to get the value as shown below: Figure 6-88: screenshot of MyLink testing counter module Create a MULTIPROG project Start MULTIPROG Figure 6-89: start MULTIPROG Create with FileNew Project...
  • Page 203 EasyPAC User Manual Use with TPM Template Figure 6-91: new project template Double-click on Logical POUs / Untitled Figure 6-92: click on the Untitled* Add new variable and set the I/O address Use MyDataCheck to get the correct I/O address mapping as shown below.
  • Page 204 EasyPAC User Manual Add a new variable and name it as Channel_0 Figure 6-94: add a new variable of 108-P120 Add variables Channel_1, Channel_2 and Channel_3 following the foregoing method. Download and monitor You can monitor the variables after the program was successfully downloaded.

  • Page 205: Single Axis

    EasyPAC User Manual 6.7.3. Single Axis A single axis sample is illustrated in this section. The wiring method is described below. Figure 6-96: hardware configuration Setup parameters using MyLink Confirm that the module model is correct. Figure 6-97: modules shown in MyLink...
  • Page 206 Figure 6-98: configure and test the axis module Save the configuration setting into the EEPROM Sample program description Create a new project with TPM template as described in previous section and add the following FB’s. Function Block User Library Description...
  • Page 207 EasyPAC User Manual Test sample program Download and click on “Debug on/off” to activate debug mode. Figure 6-99: activate debug mode by this button Override Exec to TRUE Figure 6-100: override Exec to true The EP_SetCyclicTime_1 is calculated and set it 2ms in this case.
  • Page 208 EasyPAC User Manual Figure 6-102: StandStill status is true of the Axis Override Run to TRUE MC_MoveRelative_1 will make the axis move 100000 pulses with velocity 10000pps. The status can be watched though MC_ReadStatus_1 and MC_ReadActualPosition_1. Figure 6-103: axis status with Run signal turned on Override Stop to TRUE MC_Stop_1 will stop the axis with deceleration.
  • Page 209 EasyPAC User Manual Figure 6-104: axis status with Stop signal turned on...

  • Page 210: Grouped Axes

    EasyPAC User Manual 6.7.4. Grouped Axes Note that the hardware configurations are similar to a single axis in previous section. As other axes, users need to configure parameters using MyLink. 1. Confirm that the module models are correct 2. Click on the corresponding parameter column and set it correctly.
  • Page 211 Send the path file “rect1.kwpts” to EasyPAC Figure 6-108: import the path file Sample program description 1. Create a new project with TPM Template as in the previous section. 2. Follow the single axis sample program and add the following Grouped Axes FBs. Function Block...
  • Page 212 EasyPAC User Manual Figure 6-109: activate debug mode by this button 1. Overwrite Exec to TRUE Figure 6-110: overwrite Exec to TRUE 2. Overwrite InitX to TRUE Figure 6-111: overwrite InitX to TRUE 3. Overwrite InitY to TRUE Figure 6-112: overwrite InitY to TRUE...
  • Page 213 EasyPAC User Manual Figure 6-113: function blocks monitoring group axes 5. Overwrite Group to TRUE GA_GroupEnable_1 will enable Group2. Figure 6-114: enable the group 6. Overwrite Line2 to TRUE...
  • Page 214 EasyPAC User Manual GA_MoveLinearRelative_1 will make the axes move 100000 pulses in X and 120000 pulses in Y with velocity 10000 pps. Figure 6-115: linear motion of a group 7. Overwrite MovePath to TRUE GA_PathSelect_1 will read the path file from (rect1.kwpts) and GA_MovePath_1 will execute the grouped linear motion.

  • Page 215: Hmi_Dio

    EasyPAC User Manual 6.7.5. HMI_DIO Module wiring 106-D422-NN is used in this case with IP 0. 00 is connected to 20 and 10 is connected to 30 as shown below. Figure 6-117: wiring of the module Figure 6-118: terminal definition...
  • Page 216 Figure 6-119: testing using MyLink Set with MyConfig Set SW1 to 1 to activate the MyConfig server on EasyPAC and power on and set the Modbus setting with MyConfig as shown below. Modbus: TCP, Slave ID: 1, TCP Parameters Port: 502, TimeOut: 3000 Figure 6-120: parameters setting using MyLink 6.7.5.1 HMI Project...
  • Page 217 EasyPAC User Manual Figure 6-121: create a new project Figure 6-122: input communication parameters next Figure 6-123: input parameters...
  • Page 218 EasyPAC User Manual Add LED object and set the Modbus address Use MyDataCheck to check and set the corresponding I/O address of 106-D422-NN as shown below. Figure 6-124: configure parameters using MyDataCheck Add and set a new LED. Figure 6-125: add a new led...
  • Page 219 EasyPAC User Manual Figure 6-126: duplicate multiple LEDs Figure 6-127: multiple LEDs created by MyDataCheck Add Button objects and set the Modbus address Check and set the I/O address of 106-D422 with MyDataCheck as shown below. Figure 6-128: making of a button...
  • Page 220 EasyPAC User Manual Duplicate multiple buttons. Figure 6-129: duplicate buttons Figure 6-130: multiple buttons created Download The following menu will show up after successful download. Figure 6-131: downloaded program...
  • Page 221 EasyPAC User Manual 6.7.5.2 MULTIPROG Project Create a new project with TPM template Start MULTIPROG Figure 6-132: start MULTIPROG Click on FileNew Project Figure 6-133: create a new project Use TPM Template Figure 6-134: new project template Click on “Untitled”...
  • Page 222 EasyPAC User Manual Figure 6-136: add parameters Add new variables and name them as IN_Port_0 (Byte), IN_Bit_0 (Bool), IN_Bit_1 (Bool), IN_Bit_2 (Bool), IN_Bit_3 (Bool), IN_Bit_4 (Bool), IN_Bit_5 (Bool), IN_Bit_6 (Bool), IN_Bit_7 (Bool), Out_Port_0 (Byte), Out_Bit_0 (Bool), Out_Bit_1 (Bool), Out_Bit_2 (Bool), Out_Bit_3 (Bool), Out_Bit_4 (Bool), Out_Bit_5 (Bool), Out_Bit_6 (Bool) and Out_Bit_7 (Bool) correspondingly as the screenshot below.
  • Page 223 EasyPAC User Manual Figure 6-138: download and monitor the program The HMI menu is shown below. Figure 6-139: the HMI diagram...

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