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halstrup-walcher PS-3 Series Manual

Function blocks with profinet interface
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Function Blocks for PSx-3__ with
Document 7100.005454B Version 1.1 4/2017
PROFINET interface
halstrup-walcher GmbH
Stegener Straße 10
D-79199 Kirchzarten
Phone:
+49 (0) 76 61/39 63-0
Fax:
+49 (0) 76 61/39 63-99
E-Mail:
info@halstrup-walcher.de
Internet:
www.halstrup-walcher.de

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  • Page 1 Function Blocks for PSx-3__ with PROFINET interface halstrup-walcher GmbH Stegener Straße 10 D-79199 Kirchzarten Phone: +49 (0) 76 61/39 63-0 Fax: +49 (0) 76 61/39 63-99 E-Mail: info@halstrup-walcher.de Internet: www.halstrup-walcher.de Document 7100.005454B Version 1.1 4/2017...

  • Page 2: Table Of Contents

    Function Blocks PSx-3__-PN Table of Contents Safety precautions ..................4 1.1 Appropriate use ..................4 1.2 Symbols ....................4 Data Structure DRIVE_DATA ................ 4 Data Component “Antriebsdaten” ............... 6 Error Description (Error ID) ................7 Description and use of the function blocks ..........8 5.1 Opening the library ..................
  • Page 3 Function Blocks PSx-3__-PN Purpose of instruction manual This instruction manual describes the function blocks for the PSx-3__-PN (with PROFINET interface). Improper use of these devices or failure to follow these instructions may cause injury or equipment damage. Every person who uses the devices must therefore read the manual and understand the possible risks.

  • Page 4: Safety Precautions

    Function Blocks PSx-3__-PN Safety precautions Appropriate use The positioning systems PSx-3__-PN are especially suitable for automatically setting tools, stops or spindles for wood-processing equipment, packing lines, printing equipment, filling units and other types of special machines. PSx3__-PN positioning systems are not stand-alone devices and may only be used if coupled to another machine.
  • Page 5 Function Blocks PSx-3__-PN Parameter name Data type Written by Description Address process data Slave  PdAddressIn User Master Address process data Master  PdAddressOut User Slave Name STRING[16] User (optional) Name der Achse Description Beschreibung STRING[32] User (optional) (e.g. function, task of this axis) State DINT Function blocks...

  • Page 6: Data Component "Antriebsdaten

    Function Blocks PSx-3__-PN Data Component “Antriebsdaten” In the versions for the TIA Portal this data component serves as a template for connecting the inputs and outputs of the function blocks. The data component provides the variables which are necessary to connect each input and output of all available function blocks. Each variable is present two times, so two positioning systems may be controlled.

  • Page 7: Error Description (Error Id)

    Function Blocks PSx-3__-PN Error Description (Error ID) Subsequently the error codes are shown, which are displayed by the function blocks: ErrorID (hex) Description 16xF000 (mask) 16#1xxx Error in MC_Move 16#2xxx Error in MC_Error 16#3xxx Error in MC_ReadParameter 16#4xxx Error in MC_WriteParameter 16#5xxx Error in MC_Parametrization 16#6xxx...

  • Page 8: Description And Use Of The Function Blocks

    Initially the function blocks have to be included in an own user project. This happens by opening the desired library and copying the desired function blocks. The following librarys are available: “halstrup-walcher”  for Step 7 Classic V5.5 “library_PSx3xxPN_TIA13SP1_300”  for CPU S7-300 im TIA-Portal (V13 SP1) “library_PSx3xxPN_TIA14_300”...

  • Page 9: Copying Of Function Blocks Into The User Project

    Function Blocks PSx-3__-PN (View in Step 7 TIA V13 + V14) Copying of function blocks into the user project The following elements of the library (independently of the actually used function blocks “MC_...” and the number of drives) in any case have to copied into the project: When using the library version for Step 7 Classic V5.5: Copy into “S7 Program ...

  • Page 10: Generating Instance Data Blocks

    Function Blocks PSx-3__-PN When using one of the library versions for Step 7 TIA V13 + V14: Copy into “Program blocks” of the desired CPU:  Data type DRIVE_DATA  Data type DT_LIB_IN/OUT  Function block LIB_IN/OUT These elements serve for the communication to the drive. The functions and function blocks of this group must NOT be called in the program.

  • Page 11: Lockings Between The Function Blocks

    Function Blocks PSx-3__-PN To the input “Drive” (type IN_OUT) the variable of the type “DRIVE_DATA” has to be connected which is provided for this axis. The input EN and the output ENO of each function block may stay unconnected. The inputs and outputs “Drive”, “EN” and “ENO” are not listed any more separately in the following descriptions of the particular function blocks.
  • Page 12 Function Blocks PSx-3__-PN  SFC14 (“DPRD_DAT”)  SFC15 (“DPWR_DAT”)  SFC20 (“BLK_MOV”)  FB110 (“MC_Move”)  FB111 (“MC_Error”)  FB112 (“MC_ReadParameter”)  FB113 (“MC_WriteParameter”) When using one of the library versions for Step 7 TIA V13 + V14: Copy into “Program blocks” of the desired CPU: ...

  • Page 13: Mc_Move (Fb110)

    Function Blocks PSx-3__-PN  … Now all preparations are done in order to use the function blocks. In the editor “Program blocks” the function blocks “MC_...” appear in the section “FB blocks”. So in our example the function blocks MC_Move, MC_Error, MC_ReadParameter and MC_WriteParameter are inserted each three times in a part of the program that is called cyclically (e.g.
  • Page 14 Function Blocks PSx-3__-PN Release Release of the drive  Type: BOOL  Initial value: FALSE  Direction: INPUT Description:  Run commands will only be executed if this bit is set.  This input directly controls the release bit (bit 4) in the control word. If this input stays activated and e.g.
  • Page 15 Function Blocks PSx-3__-PN  Manual run to larger values, finishing at the negative range limit.  Additionally the input “Release” has to be on resp. set. CAUTION! When deasserting the input “ManualRunToSmallerValues”, additionally the release input has to be deasserted. Otherwise the drive will move to the target position (FB input “Position”).
  • Page 16 Function Blocks PSx-3__-PN The outputs „Error“ and „ErrorID“ of MC_Move are always updated – also if the input „Release“ is not set. If the drive reports multiple errors, the ErrorID with the highest priority is shown. This priority corresponds to the order in the following table (highest priority has 16#x1xx): ErrorID Description 16#x1xx...

  • Page 17: Mc_Error (Fb111)

    Function Blocks PSx-3__-PN MC_Error (FB111) This FB reports the state of the drive and the FB as error bit, error code (“ErrorID”) and as text. In the case that MC_Error is activated, the error code is always the same as the error code of the function block MC_Move.

  • Page 18: Mc_Readparameter (Fb112)

    Function Blocks PSx-3__-PN ErrorDescription Error Description as text  Type: STRING  Default value: “”  Direction: OUTPUT The priority corresponds to the order in the following table (highest priority has 16#x1xx). ErrorID ErrorDescription 16#x1xx FB internal error 16#x2xx Invalid PD input address 16#x4xx Error while reading PD 16#xxx2...
  • Page 19 Function Blocks PSx-3__-PN (View in Step 7 TIA V13 + V14) Execute Start of a reading process  Type: BOOL  Initial value: FALSE  Direction: INPUT Description: When issuing a rising edge, a reading process of the parameter which is specified by “ParameterNumber”...

  • Page 20: Mc_Writeparameter (Fb113)

    Function Blocks PSx-3__-PN Error Bit is set if an error occurred during the execution of the FB  Type: BOOL  Default value: FALSE  Direction: OUTPUT ErrorID Error code (see table “ErrorID” in chapter 4)  Type: WORD  Default value: 0 ...
  • Page 21 Function Blocks PSx-3__-PN Execute Start of a writing process  Type: BOOL  Initial value: FALSE  Direction: INPUT Description: B When issuing a rising edge, a writing process of the parameter which is specified by “ParameterNumber” and “Subindex” with the value which is specified by the input “Value” is started.

  • Page 22: Mc_Parametrization (Fb114)

    Function Blocks PSx-3__-PN 5.12 MC_Parametrization (FB114) With this FB all parameters of the drive can be written.
  • Page 23 Function Blocks PSx-3__-PN...
  • Page 24 Function Blocks PSx-3__-PN (View in Step 7 Classic V5.5)
  • Page 25 Function Blocks PSx-3__-PN...
  • Page 26 Function Blocks PSx-3__-PN...
  • Page 27 Function Blocks PSx-3__-PN (View in Step 7 TIA V13 + V14) The following items have to be considered when using this FB:  For each parameter value there’s additionally an enable tag in order to determine whether the parameter shall be written or not. Example: DirRotation_Enable = 1 ...
  • Page 28 Function Blocks PSx-3__-PN DeliveryState Loading of the delivery state (initially without saving)  Type: BOOL  Initial value: FALSE  Direction: INPUT However, device name and IP address stay unaffected. x_Enable If set, the corresp. parameter is written  Type: BOOL ...

  • Page 29: Mc_Positionparametrization (Fb115)

    Function Blocks PSx-3__-PN ErrorID Error code (see table “ErrorID” in chapter 4)  Type: WORD  Default value: 0  Direction: OUTPUT Drive errors are not considered during a parametrization. ErrorParameter Parameter number that caused the error (in case of an error) ...
  • Page 30 Function Blocks PSx-3__-PN (View in Step 7 TIA V13 + V14) The following items have to be considered when using this FB:  Each value has to be written and the values have to have a reasonable relation to each other.
  • Page 31 Function Blocks PSx-3__-PN Condition ErrorID ErrorParameter StepsPerTurn ≥ 1 16#6140 StepsPerTurn ≤ 10000 16#6140 LowerLimit ≤ UpperLimit 16#6140 (UpperLimit - LowerLimit) / StepsPerTurn ≤ 250 16#6140 Falls SetPoint < LowerLimit: 16#6140 (UpperLimit - SetPoint) / StepsPerTurn ≤ 250 Falls SetPoint > UpperLimit: 16#6140 (SetPoint - LowerLimit) / StepsPerTurn ≤...
  • Page 32 Function Blocks PSx-3__-PN SetPoint Value on which the measuring system is referenced (new actual value at the actual position)  Type: DINT  Initial value: 0  Direction: INPUT SaveSettings Saving the settings permanently  Type: BOOL  Initial value: FALSE ...

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