Tc3 trainingexercises rc1b

46 NC-PTP Exercise 5: Creating simple PTP Move Program ..... Click File >> Save All PLC Exercise 2: Creating PLC project and Declaring Global Variables Right click on PLC icon, select “A

Contents

PLC Exercise 1: Creating XAE Project and IO Configuration 3

PLC Exercise 2: Creating PLC project and Declaring Global Variables 7

PLC Exercise 3: Linking the Variables and Activate Configuration 9

PLC Exercise 4: Downloading and Running PLC project 11

PLC Exercise 5: Creating Function Block (FB_Blinker) 11

PLC Exercise 5a: Adding a Latching Circuit using Ladder Diagram (Digital) 14

PLC Exercise 6: Creating Function (F_Scale) 15

PLC Exercise 7: Configuring Auto Start of the Control Unit 17

PLC Exercise 8: Working with several Tasks 17

PLC Exercise 9: Troubleshooting PLC program using Scope 20

PLC Exercise 10: Creating Persistent Data 24

PLC Exercise 11: Uploading Source Code 25

PLC Exercise 12: Reading System Date and Time 26

PLC Exercise 13: STRING function (Delete, Concat, Len, Sizeof) 28

PLC Exercise 14: STRUCTURE and EXTEND 29

PLC Exercise 15: ALIAS 30

PLC Exercise 16: ENUMERATION 31

PLC Exercise 17: UNION 32

PLC Exercise 18: ARRAY 34

PLC Exercise 19: CASE statement 35

PLC Exercise 20: FOR loop 36

PLC Exercise 21: Creating a simple Visualisation page 37

NC-PTP Exercise 1: Setting up Stepper Axis (EL7031) 38

NC-PTP Exercise 2: Setting up Servo Axis (EL7201-9014) 41

NC-PTP Exercise 3: Commissioning the Motor with NC 44

NC-PTP Exercise 4: Creating NC Scope to monitor Axis 46

NC-PTP Exercise 5: Creating simple PTP Move Program 48

TwinCAT XAE User Interface

PLC Exercise 1: Creating XAE Project and IO Configuration

Disclaimer: The steps given here serve as an example from using CX5130-0135 from Beckhoff Automation For other Beckhoff PC-based controller, the device interfaces may varies depending on the hardware setup/architecture

the System TaskBar

Select TwinCAT XAE (TcXaeShell)

File >> New >> Project

Click [OK]

12 Scan I/O Devices

Right click on I/O Devices, select

“Scan”

depending on hardware used

Select “Device1 [EtherCAT]”

only

connected IO boxes (eg

EtherCAT coupler, IO terminals)

Click [YES]

I/O check

17) Now Test all individual I/O points

Digital Input Term2(EL1014) Channel 1 ~ 4, Input Switch S1 ~ S4

Digital Output Term3(EL2014) DIG Outputs, Channel 1 ~ 4, Output LED Lamp H1 ~ 4

Analog Input Term6(EL3102) Channel 1 ~ 2, Value Potentiometer P1, P2

Analog Output Term7(EL4102) Channel 1 ~ 2, Output Voltmeter A1, A2

18) Save the Solution File Click File >> Save All

PLC Exercise 2: Creating PLC project and Declaring Global Variables

Right click on PLC icon, select

“Add New Item”

Template”

Enter the name: Plc1

3 Create a Global Variable List

(GVLs)

Right click on the GVLs folder, Select Add >> Global Variable List

Enter the Name: IO

4 {attribute 'qualified_only'}

VAR_GLOBAL

//Digital Input

bSwitch1 AT %I*: BOOL;

bSwitch2 AT %I*: BOOL;

bSwitch3 AT %I*: BOOL;

bSwitch4 AT %I*: BOOL;

nResistor1 AT %I*: INT;

nResistor2 AT %I*: INT;

Click FILE >> Save All

Click Build >> Build Solution

Ensure there’s no error before proceeding to next step

PLC Exercise 3: Linking the Variables and Activate Configuration

Right click on the Channel1 Input of EL1014

select “Change Link”

Refer to the table below for the actual mapping between IO channels and PLC IO vars

Tips: Use the “Search” function

to filter out relevant IO variables

Click TWINCAT >> Activate Configuration

Enter the Security code if prompted

Mapping between PLC Variables and I/O process image

bLed1 Term3(EL2014), DIG Output, Channel 1, Output LED H1

bLed2 Term3(EL2014), DIG Output, Channel 2, Output LED H2

Tips 1# An Output byte can be declare and use for linking to 8-ch Output terminal eg EL2008

Note: “All Types” and “Continuous” checkbox is used

Tips 2# Use “Change Multi-Link ” for efficient Variables linking

Tips 3# Option to possibly create a structure from mapped Process data of a IO terminal

PLC Exercise 4: Downloading and Running PLC project

Click PLC >> Login

Start

monitor the online value Test and check that the IO links are correct

pressing the Push Button

Output can be triggered by

“Write Values” in Prepared

Value column

Click PLC >> Logout

PLC Exercise 5: Creating Function Block (FB_Blinker)

under POUs folder Right click on the POUs

folder, select Add >> POU

2 Name: FB_Blinker

Type : Function block Implementation Lang: FBD

the network rung

accordingly

5 Create a Program

Name: Digital Type : Program Implementation Lang: FBD

Digital Program using Input Assistant [F2]

Optional:

Instantiate fbBlinker2 with

a different delay time and bLed output

PLC Exercise 5a: Adding a Latching Circuit using Ladder Diagram (Digital)

Logic

Select FBD/LD/IL >> View >> View as Ladder Logic

and “Insert Network”

the Latching Circuit as shown

on the FB_Blinker to bStartBlink

Login and test the program

PLC Exercise 6: Creating Function (F_Scale)

folder Right click on the POUs folder,

select Add >> POU

Type: Function Return type: REAL Implementation Lang: ST

4 Create a Program

Name: Analog Type : Program Implementation Lang: ST

Program using Input Assistant [F2]

MAIN Program

Build Solution and make sure

no error

Login to PLC and test F_Scale

Optional: set Breakpoint to monitor temporary variable in the function

Tips 1# Breakpoints are generally used for finding errors in the program You can set breakpoints at certain positions

in the program in order to force an execution stop there and observe the variable values Take note that all Outputs are turned off when the program has been stopped by breakpoint

PLC Exercise 7: Configuring Auto Start of the Control Unit

System Run Mode

In the Settings tab, check “Run Mode (Enable)” radio button Then, click “Apply” button

make sure that “Autostart Boot Project” is checked Then, “Activate Boot Project”

PLC Exercise 8: Working with several Tasks

select Add >> Referenced Task

2 Create a new task name:

“FastTask”

Name: FastProg Type : Program Implementation Lang: ST

referenced task “FastTask”, select Add >> Existing item Choose the FastProg within the Input Assistance

6 Adjust the Priority and Cycle

Ticks

Then “Activate Configuration”

same counter logic

bStartCnt and monitor online the Counter values in both MAIN and FastProg using WatchList

PLC >> Windows >> Watch1

Tips 1# A separate Task is normally used for Communication or Motion or Fast Sampling function

Tips 2# Be careful of multi-task data access synchronization in PLC When the same data is accessed by multiple tasks, the tasks may access the same data simultaneously, depending on the task/realtime configuration If the data is written by at least one of the tasks, the data may have an inconsistent state during or after a change To prevent this, all concurrent accesses must be synchronized so that only one task at a time can access the shared data

PLC Exercise 9: Troubleshooting PLC program using Scope

select Add >> New Project

Wizard” template

4 Choose “Variables”

IO.bSwitch1 IO.bLED1 Analog.fScaledValue

…etc

7 Choose “YT Chart”

10 Start Recording

PLC Exercise 10: Creating Persistent Data

Code the program

program

Start and Stop the counting Remember the last value of nCounter

Switch Off power to Training Kit and wait till PWR Led is off Then, switch On power to Training Kit and wait till TC Led turns Green

Login PLC and check nCounter value

<Tc2_Utilities> library FB_WritePersistentData

PLC Exercise 11: Uploading Source Code

solution file, close the solution

file now Click FILE >> Close Solution

To upload the Source code,

click File >> Open >> Open Project From Target

Runtime System

“UploadProj” on Desktop and

[Select Folder]

4 The complete Project has

been uploaded

PLC Exercise 12: Reading System Date and Time

6 Call the action in the MAIN

Program

Login PLC and test ACT_ReadTime by Write Value bEnable to TRUE

Check the ACT_ReadTIme result against the System Time

on Windows System Taskbar

PLC Exercise 13: STRING function (Delete, Concat, Len, Sizeof)

PLC Exercise 14: STRUCTURE and EXTEND

PLC Exercise 16: ENUMERATION

folder

Name: E_Week Type: Enumeration

PLC Exercise 17: UNION

Name: ST_Bits Type: Structure

PLC Exercise 18: ARRAY

Name: F_Sum Type: Function Return Type: DINT Implementation Lang.: ST

2 FUNCTION F_Sum : DINT

FOR i := LOWER_BOUND(aData,1) TO UPPER_BOUND(aData,1) DO

nSum := nSum + aData[i];

6 Build Solution

PLC Login and check the result

PLC Exercise 19: CASE statement

Program Name: “Act_CaseStm”

bVar1 := NOT bVar1;

Write the Codes in the action Act_CaseStm

END_VAR

program

PLC Login and check the result

by changing the value of nVar

PLC Exercise 20: FOR loop

Program Name: “Act_ForLoop”

5 Build Solution

PLC Login and check the result

by set nVar1 to 1 nErg result is 32

PLC Exercise 21: Creating a simple Visualisation page

the VISU folder

Visualisation library Check the

“Active” button and press [OPEN]

3 From the Toolbox,

Drag-and-Drop the PushSwitch and Lamp symbol into the

NC-PTP Exercise 1: Setting up Stepper Axis (EL7031)

The data given here serve as an example for a stepper motor type AS1010-0000 from Beckhoff Automation running

on 24V DC power supply setting For other motors the values may vary, depending on the application

1

Refer to “PLC Exercise 1” for the procedures

• Start New Tc3 Solution

• Select CX runtime target

• Switch to CONFIG mode

• Scan IO device

• Scan Motors

• Append Drives to NC Configuration

• Activate Free-run mode

2 Adaptation of current and

Microstepping is set to 1/64 and cannot be changed

However, the base frequency can be changed

Speed range (Index 0x8012:05) ➔ default: 2000

Change the display unit under Settings to degree

5

Vmax = base freq / motor freq = (2000 FullSteps/s) / (200 FullSteps/rev) =

Reference Velo.: 3600deg/s Maximum Velo.: 3600deg/s

The dead time compensation

can be adjusted on the Time Compensation tab of

Axis1_ENC

It should theoretically be 3 cycles of the NC cycle time, although in practice 4 cycles are preferable

Therefore, the settings of the

parameters Time Compensation Mode Encoder

should be ‚ON (with velocity)‘

and Encoder Delay in Cycles

‘4’ frequency

7

Calculation of the scaling factor

with encoder, 4-fold evaluation:

SF = distance per revolution / (increments x 4) = 360° / (1024 x 4) =

“Axis1_Enc” and tab

“Parameter in the NC The value is calculated with the formulas specified below EL7031 is without encoder The internal counter is use for position feedback

Scaling Factor Numerator: 0.028125

8 Position Lag Monitoring

The position lag monitoring function checks whether the current position lag of an axis has exceed the limit value The position lag is the difference between the set value (control value) and the actual value reported back If the terminal parameters are set inadequately, the position lag monitoring function may report an error when the axis

is moved During commissioning, it may therefore be advisable to increase the limits of the Position lag monitoring slightly

In order to pass through any resonances that may occur as quickly as possible, the ramps for the acceleration time and the deceleration time should

be as steep as possible Acc./Decc Time: 0.5s

Solution File

• Activate Configuration

NC-PTP Exercise 2: Setting up Servo Axis (EL7201-9014)

The data given here serve as an example for a servo-motor type AM8111-0F10 from Beckhoff Automation running

on 24V DC power supply setting For other motors the values may vary, depending on the application

The EL72x1 Servo Axis is automatically added to Axis_2 during the scan in previous exercise

Several parameters have to be set before the motor can be started up The values can be found in EL72x1 manual

1 Under I/O devices, find the

EL72x1-xxx terminal that have been scanned in by the system

Select the “Drive Manager” tab

“24VDC” under “Power Management”

Parameters”, change Feed Constant to 360 degree Click [Set NC Parameters]

All required parameters are adjusted automatically The setting only becomes active once the configuration is activated

Change the display unit under Settings to degree

The dead time compensation

can be adjusted on the Time Compensation tab of

Axis2_ENC It should be theoretically be 3 cycles of the

NC cycle time, although in practice 4 cycles are preferable

Default setting for EL72x1-xxx

is 20 single-turn bits

NC-PTP Exercise 3: Commissioning the Motor with NC

button

3 Press the Function key to

manually jog the motor F2/F3: slow jog

F1/F4 : fast jog F5: Move Absolute F6: Stop

F8: Reset F9: Home (DO NOT USE!!)

the axis via Functions tab

• Select as Reversing Sequence as the start type

• Enter the required Target Position2, e.g 12000°

• Enter the required Target Velocity, e.g 1200°/s

• Enter the required Target Position1, e.g 0°

• Enter the required Idle Time, e.g 2 s

• Select Start

The motor now turns to pos 2, remains there for 2 sec and return to pos 1 This is repeated until Stop is pressed

commissioning steps for Axis_2

Optional:

Try out other Start Mode Eg

NC-PTP Exercise 4: Creating NC Scope to monitor Axis

Measurement Project File >> New >> Project

DataPool [Hint: use SHIFT to select]

IndxGrp 0x4101 is for Axis1, IdxGrp 0x4102 is Axis2, IdxGrp 0x410n is Axis n and so on

3 Go to the Properties

Window

Change the Target system to the name of the CX/IPC

Optional:

Try changing the Kv factor and also try changing the

NC-PTP Exercise 5: Creating simple PTP Move Program

4 Select “Tc2_Mc2.lib” Click

8 Create FB_Axis

Name: FB_Axis Type: Function Block Implementation Lang: ST

to called at the beginning of each PLC cycle

Axis has to be ready before executing other MC commands

“Done” output is set once the target position has been reached

16 Create a new Data Unit Type

(DUTs)

Name: E_MoveState Type: Enumeration

Declare the following variable

in the MAIN program

19 fbAxis1( stAxis:= GVL.Axis1);

(* axis error requires reset*)

online for download