maxon motor control Programming Reference

EPOS P Programmable Positioning Controller Edition January 2010

/
Programmable Positioning Controller

Programming Reference

Document ID: 786 912-07

maxon motor ag Brnigstrasse 220 P.O.Box 263 CH-6072 Sachseln Phone +41 (41) 666 15 00 Fax +41 (41) 666 15 50 www.maxonmotor.com

PLEASE READ THIS FIRST

These instructions are intended for qualified technical personnel. Prior commencing with any activities you must carefully read and understand this manual and you must follow the instructions given therein.

We have tried to provide you with all information necessary to install and commission the equipment in a secure, safe and time-saving manner. Our main focus is to familiarize you with all relevant technical aspects, to let you know the easiest way of doing, to alert you of any possibly dangerous situation you might encounter or that you might cause if you do not follow the description, to write as little and to say as much as possible and not to bore you with things you already know.

Likewise, we tried to skip repetitive information! Thus, you will find things mentioned just once. If, for example, an earlier mentioned action fits other occasions you then will be directed to that text passage with a respective reference. Follow any stated reference observe respective information then go back and continue with the task!

PREREQUISITES FOR PERMISSION TO COMMENCE INSTALLATION

EPOS P and MCD EPOS P are considered as partly completed machinery according to EUs directive 2006/42/EC, Article 2, Clause (g) and therefore is intended to be incorporated into or assembled with other machinery or other partly completed machinery or equipment. You must not put the device into service, unless you have made completely sure that the other machinery the surrounding system the device is intended to be incorporated to fully complies with the requirements stated in the EU directive 2006/42/EC! unless the surrounding system fulfills all relevant health and safety aspects! unless all respective interfaces have been established and fulfill the stated requirements!

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Document ID: 786 912-07 V1 en Edition: January 2010

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maxon motor control EPOS P Programmable Positioning Controller EPOS P Programming Reference

TABLE OF CONTENTS
1 2 About this Document Introduction
2.1 2.2 2.3 2.4

5 9

Important Notice: Prerequisites for Permission to commence Installation - - - 9 General Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9 Documentation Structure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9 Safety Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10

Programming
3.1

11
Programming Tool OpenPCS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11
3.1.1 Startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11 3.1.2 Licence Key Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12

3.2 3.3 3.4 3.5

Connection Setup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Sample Project HelloWorld - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Creating New Project - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Program Code- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

13 15 16 17

3.5.1 Writing Program Code - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 17 3.5.2 Compiling and executing Program Code - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 18 3.5.3 Debugging Program Code - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 19

Project Settings
4.1 4.2 4.3

21

Resource Properties - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 21
4.1.1 Edit Resource Properties - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 21

Task Properties - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 22
4.2.1 Edit Task Properties- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 22

Network Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 25
4.3.1 Overview- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 25 4.3.2 Master Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 26 4.3.3 Slave Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 30 4.3.4 Minimal Network Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 37

Function Blocks
5.1

41

Motion Control Function Blocks- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 42

5.1.1 MC_Power - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 42 5.1.2 MC_Reset- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 43 5.1.3 MC_ReadStatus - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 44 5.1.4 MC_MoveAbsolute- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 46 5.1.5 MC_MoveRelative - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 48 5.1.6 MC_MoveVelocity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 50 5.1.7 MC_Home- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 52 5.1.8 MC_Stop- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 54 5.1.9 MC_ReadParameter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 55 5.1.10 MC_ReadBoolParameter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 57 5.1.11 MC_WriteParameter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 58

maxon motor control EPOS P Programmable Positioning Controller EPOS P Programming Reference

Document ID: 786 912-07 V1 en Edition: January 2010

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5.1.12 MC_ReadActualPosition - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 60 5.1.13 MC_ReadActualVelocity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 61 5.1.14 MC_ReadActualCurrent- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 62 5.1.15 MC_ReadAxisError - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 63

5.2

Maxon Utility Function Blocks - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 64

5.2.1 MU_GetAllDigitalInputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 64 5.2.2 MU_GetDigitalInput - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 66 5.2.3 MU_GetAnalogInput - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 67 5.2.4 MU_SetAllDigitalOutputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 68 5.2.5 MU_GetDeviceErrorCount - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 69 5.2.6 MU_GetDeviceError - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 70 5.2.7 MU_GetObject - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 71 5.2.8 MU_SetObject - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 72 5.2.9 MU_GetHomingParameter- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 73 5.2.10 MU_SetHomingParameter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 75 5.2.11 MU_Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 77 5.2.12 MU_GetBitState - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 78 5.2.13 MU_SetBitState - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 79

5.3

CANopen DS-301 Function Blocks - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 80

5.3.1 CAN_Nmt- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 80 5.3.2 CAN_SdoRead - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 81 5.3.3 CAN_SdoWrite - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 82

Markers
6.1 6.2 6.3 6.4 6.5 User Marker Area - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Marker Global Status Register - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Marker Global Axis Error Register - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Reserved Marker Area - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - CANopen Slave Error Register Area - - - - - - - - - - - - - - - - - - - - - - - - - - - -

83
83 84 84 85 86

Process I/Os
7.1 7.2

87
Process Inputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 87 Process Outputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 88

Error Handling
8.1 8.2

89
Programming Environment Error Codes- - - - - - - - - - - - - - - - - - - - - - - - - - 89 Motion Control Function Blocks Error Codes - - - - - - - - - - - - - - - - - - - - - - 90

Example Projects
9.1 9.2 9.3 9.4 HelloWorld - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - SimpleMotionSequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Best Practice Program Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Application Program Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

91
91 92 93 94

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Document ID: 786 912-07 V1 en Edition: January 2010

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maxon motor control EPOS P Programmable Positioning Controller EPOS P Programming Reference

1
1.1

About this Document

Intended Purpose
The purpose of the present document is to familiarize you with the described equipment and the tasks on safe and adequate installation and/or commissioning. Observing the described instructions in this document will help you to avoid dangerous situations, to keep installation and/or commissioning time at a minimum and to increase reliability and service life of the described equipment.

Use for other and/or additional purposes is not permitted. maxon motor, the manufacturer of the equipment described, does not assume any liability for loss or damage that may arise from any other and/or additional use than the intended purpose.

1.2

Target Audience
This document is meant for trained and skilled personnel working with the equipment described. It conveys information on how to understand and fulfill the respective work and duties. This document is a reference book. It does require particular knowledge and expertise specific to the equipment described.

1.3

How to use
Take note of the following notations and codes which will be used throughout the document. Notation Abcd Abcd (n) Table 1-1 Explanation indicating a title or a name (such as of document, product, mode, etc.) indicating an action to be performed using a software control element (such as folder, menu, drop-down menu, button, check box, etc.) or a hardware element (such as switch, DIP switch, etc.) referring to an item (such as order number, list item, etc.) denotes see, see also, take note of or go to Notations used in this Document

maxon motor control EPOS P Programmable Positioning Controller EPOS P Programming Reference

Document ID: 786 912-07 V1 en Edition: January 2010

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1.4

Symbols and Signs

1.4.1 Safety Alerts

Take note of when and why the alerts will be used and what the consequences are if you should fail to observe them! Safety alerts are composed of a signal word, a description of type and/or source of the danger, the consequence if the alert is being ignored, and explanations on how to avoid the hazard.

Following types will be used: 1) DANGER Indicates an imminently hazardous situation. If not avoided, the situation will result in death or serious injury. 2) WARNING Indicates a potentially hazardous situation. If not avoided, the situation can result in death or serious injury. 3) CAUTION Indicates a probable hazardous situation and is also used to alert against unsafe practices. If not avoided, the situation may result in minor or moderate injury. Example: DANGER High Voltage and/or Electrical Shock Touching live wires causes death or serious injuries! Make sure that neither end of cable is connected to life power! Make sure that power source cannot be engaged while work is in process! Obey lock-out/tag-out procedures! Make sure to securely lock any power engaging equipment against unintentional engagement and tag with your name!

1.4.2

Prohibited Actions and Mandatory Actions

The signs define prohibitive actions. So, you must not! Examples: Do not touch! Do not operate!

The signs point out actions to avoid a hazard. So, you must! Examples: Unplug! Tag before work!

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maxon motor control EPOS P Programmable Positioning Controller EPOS P Programming Reference

1.4.3

Informatory Signs

Requirement / Note / Remark Indicates an action you must perform prior continuing or refers to information on a particular item.

Best Practice Gives advice on the easiest and best way to proceed.

Material Damage Points out information particular to potential damage of equipment.

Reference Refers to particular information provided by other parties.

1.5

Trademarks and Brand Names

For easier legibility, registered brand names are listed below and will not be further tagged with their respective trademark. It must be understood that the brands (the below list is not necessarily concluding) are protected by copyright and/or other intellectual property rights even if their legal trademarks are omitted in the later course of this document. The brand name(s) Adobe Reader Pentium Windows Table 1-2 is/are a registered trademark(s) of Adobe Systems Incorporated, USA-San Jose, CA Intel Corporation, USA-Santa Clara, CA Microsoft Corporation, USA-Redmond, WA Brand Names and Trademark Owners

maxon motor control EPOS P Programmable Positioning Controller EPOS P Programming Reference

Document ID: 786 912-07 V1 en Edition: January 2010

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1.6

Sources for additional Information

For further details and additional information, please refer to below listed sources: # [1] [2] [3] [4] [5] Reference CiA DS-301 Communication Profile for Industrial Systems www.can-cia.org CiA DSP-302 Framework for CANopen Managers and Programmable CANopen Devices www.can-cia.org (section accessible for CiA members only) CiA DS-405 Interface and Device Profile for IEC 61131-3 Programmable Devices www.can-cia.org PLCopen: Function blocks for motion control http://plcopen.org/ Konrad Etschberger: Controller Area Network ISBN 3-446-21776-2 maxon motor: EPOS Firmware Specification (Document #798675) EPOS P CD-ROM or www.maxonmotor.com \ category Service & Downloads maxon motor: EPOS P Firmware Specification (Document #810011) EPOS P CD-ROM or www.maxonmotor.com \ category Service & Downloads Sources for additional Information

[6]

[7]

Table 1-3

1.7

Copyright
2010 maxon motor. All rights reserved. The present document including all parts thereof is protected by copyright. Any use (including reproduction, translation, microfilming and other means of electronic data processing) beyond the narrow restrictions of the copyright law without the prior approval of maxon motor ag, is not permitted and subject to persecution under the applicable law. maxon motor ag Brnigstrasse 220 P.O.Box 263 CH-6072 Sachseln Switzerland Phone +41 (41) 666 15 00 Fax +41 (41) 666 15 50 www.maxonmotor.com

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maxon motor control EPOS P Programmable Positioning Controller EPOS P Programming Reference

2
2.1

Introduction
Important Notice: Prerequisites for Permission to commence Installation
EPOS P and MCD EPOS P are considered as partly completed machinery according to EUs directive 2006/42/EC, Article 2, Clause (g) and therefore is only intended to be incorporated into or assembled with other machinery or other partly completed machinery or equipment. WARNING Risk of Injury Operating the device without the full compliance of the surrounding system with the EU directive 2006/42/EC may cause serious injuries! Do not operate the device, unless you have made sure that the other machinery fulfills the requirements stated in EUs directive! Do not operate the device, unless the surrounding system fulfills all relevant health and safety aspects! Do not operate the device, unless all respective interfaces have been established and fulfill the stated requirements!

2.2

General Information
The present document provides you with information on programming the EPOS P and MCD EPOS P Programmable Positioning Controller. It describes the standard procedure to write and debug an IEC 61131 program based on an example and describes motion control function blocks. Find the latest edition of the present document, as well as additional documentation and software to the EPOS P and MCD EPOS P Programmable Positioning Controller also on the internet: www.maxonmotor.com category Service & Downloads shop.maxonmotor.com

2.3

Documentation Structure
The present document is part of a documentation set. Please find below an overview on the documentation hierarchy and the interrelationship of its individual parts:

Figure 2-1

Documentation Structure

maxon motor control EPOS P Programmable Positioning Controller EPOS P Programming Reference

Document ID: 786 912-07 V1 en Edition: January 2010

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2.4

Safety Precautions
Prior continuing make sure you have read and understood the section PLEASE READ THIS FIRST on page A2, do not engage with any work unless you possess the stated skills (chapter 1.2 Target Audience on page 1-5, refer to section Symbols and Signs on page 1-6 to understand the subsequently used indicators, you must observe any regulation applicable in the country and/or at the site of implementation with regard to health and safety/accident prevention and/or environmental protection, take note of the subsequently used indicators and follow them at all times.

DANGER High Voltage and/or Electrical Shock Touching live wires causes death or serious injuries! Consider any power cable as connected to life power, unless having proven the opposite! Make sure that neither end of cable is connected to life power! Make sure that power source cannot be engaged while work is in process! Obey lock-out/tag-out procedures! Make sure to securely lock any power engaging equipment against unintentional engagement and tag with your name!

Requirements Make sure that all associated devices and components are installed according to local regulations. Be aware that, by principle, an electronic apparatus can not be considered fail-safe. Therefore, you must make sure that any machine/apparatus has been fitted with independent monitoring and safety equipment. If the machine/apparatus should break down, if it is operated incorrectly, if the control unit breaks down or if the cables break or get disconnected, etc., the complete drive system must return and be kept in a safe operating mode. Be aware that you are not entitled to perform any repair on components supplied by maxon motor. Best Practice For initial operation, make sure that the motor is free running. If not the case, mechanically disconnect the motor from the load. Maximal permitted Supply Voltage Make sure that supply power is between 1124 VDC. Supply voltages above 27 VDC will destroy the unit. Wrong polarity will destroy the unit. Electrostatic Sensitive Device (ESD) Make sure to wear working cloth in compliance with ESD countermeasures. Handle device with extra care.

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maxon motor control EPOS P Programmable Positioning Controller EPOS P Programming Reference

3
3.1

Programming
Programming Tool OpenPCS
3.1.1 Startup

1) Open EPOS Studio. 2) Load a project (*.pjm), containing a programmable controller (can be an EPOS P or MCD?EPOS?P) permitting you to open the programming tool. 3) Click page Tools in page navigator.

Figure 3-2

Page Navigator

4) Select desired device in device selection combo box. 5) Doubleclick IEC 61131 Programming. A list of sample projects will be displayed. Use this view as a control center to open projects and control program status (for details Table 3-4).

Figure 3-3

EC 61131 Programming Window

Area

Button / Command
Open Programming Tool

Effect
Launches external tool OpenPCS Opens an existing project Searches for/opens an existing IEC 61131 project (*.var) Starts the program from scratch by initializing variables to their default values Restarts the program and restores the values Restarts the program at the position it was stopped and restores values Interrupts the program Defines properties after download or reset of program

Project

Open Sample Project Browse Project Cold Start

Program Control

Warm Start Hot Start Stop

Bootup Behavior

Bootup Behavior

Table 3-4

EC 61131 Programming Window Commands and their Effect

6) Click Open Programming Tool to open external tool OpenPCS.

maxon motor control EPOS P Programmable Positioning Controller EPOS P Programming Reference

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3-11

3.1.2

Licence Key Configuration

In order to use the programming tool OpenPCS, a valid licence key must be configured. 1) Open menu Extras, then submenu Tools. 2) Click Info to check if valid license is available. If no license is registered, enter valid serial number and license key (ReadMe.txt in EPOS Studio directory).

Figure 3-4

OpenPCS License Registration

If you find the license key out of date, download latest version of EPOS Studio from the internet (for URLs chapter 2 Introduction on page 2-9.

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maxon motor control EPOS P Programmable Positioning Controller EPOS P Programming Reference

3.2

Connection Setup
1) Open menu PLC, then click menu item Connections.

Figure 3-5

Connection Setup

2) Look for entry ProxyEpos: a) If available, click Edit and continue with step 5. b) If not available, click New and continue with next step. 3) Enter ProxyEpos as name and add comments later on, this driver will enable parallel communication of EPOS Studio and programming tool OpenPCS. Then click OK.

Figure 3-6

Edit Connection

4) Click OK to select driver ProxyEpos.

Figure 3-7

Select Driver

5) Click Settings and select baud rate of your RS232 interface. Then click OK. Please note: Default baud rate is 115200 Bd.

maxon motor control EPOS P Programmable Positioning Controller EPOS P Programming Reference

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Figure 3-8

Connection Settings

6) The connection entry has been added to the list and is available for selection.

Figure 3-9

Connection Entry ProxyEpos

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maxon motor control EPOS P Programmable Positioning Controller EPOS P Programming Reference

3.3

Sample Project HelloWorld

The following chapters explain the standard procedure to write a program. The procedure is described using an example of a very simple program without any motion control features. The intention of this program is only to visualize handling of the programming tool. Basically, the program counts up and down. When reaching the maximum value, the text HelloWorld will be written to the variable Text. For an example using motion control functionality chapter 9.1 HelloWorld on page 9-91.
PROGRAM Counter VAR UpCounting Count CountMax Text END_VAR (*Update UpCounting*) IF (Count = 0) THEN UpCounting := TRUE; Text := ; END_IF; IF (Count >= CountMax) THEN UpCounting Text := HelloWord; END_IF; (*Do Counting*) IF (UpCounting) THEN Count := Count + 1; ELSE Count := Count -1; END_IF; END_PROGRAM := FALSE; : BOOL := TRUE; : UINT := 0; : UINT := 300; : STRING;

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3.4

Creating New Project

1) Click menu File, then submenu Projects. Select menu item New. 2) Select file type maxon motor ag and template EPOS P Project or MCD EPOS P Project. 3) Enter project name HelloWorld, browse for location to store new project. 4) Click OK to create new project. It will contain a resource item containing configuration for the hardware module named maxon motor EPOS P and a network connection named ProxyEpos.

Figure 3-10

Create New Project

5) To view/edit resource specification, click menu PLC, then menu item Resource Properties.

Figure 3-11

Edit Resource Specifications

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3.5

Program Code
3.5.1 Writing Program Code a) Click menu File, then menu item New to open dialog. b) Select Create a new file.

1) Add a new program to the project:

Figure 3-12

Create Program File

2) Select file type Program from directory POU (Program Organization Unit): a) Choose preferred programming language for your program in following example Structured Text. b) Enter name Counter and click OK. 3) You will be asked whether or not you wish to add program item Counter to the active resource. Click Yes.

Figure 3-13

Add to active Resource

4) Configure configuration of program Counter: a) Open tab Resources, select task item Counter and open properties via context menu (right click). b) Select task type Timer and set time to 10 ms.

Figure 3-14

Task Specifications

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5) Now, you are ready to start programming: a) Open program item Counter.ST.

Figure 3-15

Project HelloWorld

b) Enter variable declaration.

Figure 3-16

Variable Declaration

c) Enter program code.

Figure 3-17

Program Code

6) Verify correct implementation: Click menu File, then select menu item Check Syntax.

3.5.2

Compiling and executing Program Code

1) After code implementation, the program must be compiled: Click menu PLC, then select menu item Build Active Resource. The following logging output will be displayed.

Figure 3-18

Output Window

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2) In order to download the program code, an online connection must be established: a) Click menu PLC, then select menu item Online. b) If new code is detected, you will be asked whether or not you wish to download the current resource. Click Yes to update the program in EPOS P.

Figure 3-19

Download new Code

3) Click menu PLC, then select menu item Cold Start to start downloaded code.

Figure 3-20

Cold Start

3.5.3

Debugging Program Code a) Open tab Resources in the project window. b) Open tree view of task COUNTER and select variable COUNT. c) Select command Add To Watchlist from context menu. The variable COUNT will now be added to window Test And Commissioning.

1) Add a watch variable to the window Test And Commissioning:

Figure 3-21

Test And Commissioning Window

2) Repeat above procedure for variables UPCOUNTING and COUNTMAX. 3) For a step-by-step program debugging add a breakpoint to the program code: a) Position mouse cursor to the line you wish to add the breakpoint. b) Click menu PLC, then submenu Breakpoint and select menu item Toggle. The program will then stop at the breakpoint.

Figure 3-22

Adding a Breakpoint

4) To delete a breakpoint, again toggle the breakpoint.

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5) Continue program execution: a) Click menu PLC, then submenu Breakpoint. b) Select menu item Go.

Figure 3-23

Continue Program Execution

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Project Settings
The following chapter will explain functions of some project-specific settings that need to be performed during the programming process.

4.1

Resource Properties
In general, a resource is equivalent to a PLC or a micro controller. A resource definition consists of name (for identification), hardware description (i.e. information on properties of your PLC used by OpenPCS), and a connection name (i.e. information on type of communication between OpenPCS and the control system).

A resource maintains a list of tasks which will be run on the control system.

Figure 4-24

Resource Pane

4.1.1

Edit Resource Properties

Right click to open context menu and select Properties. A dialog box will be displayed permitting you to change the following properties:

Figure 4-25

Resource Specifications Window

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Control Element

Description Select the configuration file corresponding to the controller you are using. When using maxon hardware, the modules maxon motor EPOS P 24/5 and maxon motor MCD EPOS P 60 W will be available. If you wish to use Windows SmartSIM simulation, use SmartSIM. Select the communication connection to your resource. To communicate with maxon EPOS P 24/5 or MCD EPOS P 60 W, choose ProxyEpos. To work with the PLC simulation of OpenPCS select Simulation. Enable Upload: not supported Download Symbol Table: no effect OpenPCS supports optimization settings speed, size and normal. size only: compiler option to optimize the generated code in respect to its size speed only: compiler option to optimize the generated code in respect to speed normal: mix between size only and speed only

Hardware Module

Network Connection

Options

Optimization

Table 4-5

Resource Specifications Window Control Elements

Remark Bear in mind that full debugging is only possible with optimization option size only!

4.2

Task Properties
In general, a task is equivalent to a program. The definition of a task consists of 4.2.1 name, information on the execution of the task, and POU of type PROGRAM that will be executed in this task. Edit Task Properties

Right click to open context menu and select Properties. A dialog box will be displayed permitting you to change the following properties. 4.2.1.1 Task Type

OpenPCS supports all three tasks types defined by IEC 61131-3.

Figure 4-26

Task Type Window

Control Element

Description Will be executed when no timer or interrupt tasks are ready to run. The priority (may be specified in task properties) will be interpreted as a cycle interleave (e.g. priority = 3 will have this task executed only every third cycle). No particular execution order is defined by OpenPCS amongst multiple cyclic tasks. Will be executed every n milliseconds (n may be specified in task properties). Will be executed as soon as the interrupt occurs to which they are linked to.

Cyclic

Timer Interrupt

Table 4-6

Task Type Window Control Elements

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4.2.1.2

Optimization

OpenPCS supports optimization settings speed, size and normal.

Figure 4-27

Edit Task Specification Optimization

Control Element resource defaults size only speed only normal

Description Uses the optimization attributes of the resource. Compiler option to optimize the generated code in respect to its size. Compiler option to optimize the generated code in respect to speed. Mix between size only and speed only.

Table 4-7

Edit Task Specification Control Elements

Remark Bear in mind that full debugging is only possible with optimization option size only!

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4.2.1.3

Interrupt

This task type is only executed at particular interrupt events. The type of the event is selected with the option Interrupt.

Figure 4-28

Edit Task Specification Interrupt

Control Element STARTUP STOP ERROR CANSYNC CANERR

Description Task with type interrupt is executed once upon startup. Task with type interrupt is executed once upon program stop. Task with type interrupt is executed once upon program error. Task with type interrupt is synchronized with CANopen SYNC. Task with type interrupt is synchronized with CANopen EMCY.

Table 4-8

Edit Task Specification Control Elements

Remark Function Blocks STARTUP, STOP and ERROR need typically more than one cycle to finish! Function Block CANSYNC: The interrupt source for this task is the CANopen SYNC Cycle, the task will never be called when the SYNC Master is not activated Function Block CANERR: The interrupt source for this task is the CANopen EMCY, this task is called once when a connected CANopen Slave reports a Error with CANopen EMCY.

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4.3

Network Configuration
Used to setup a multi axes network. Use this tool to configure the devices (master and slaves) that will be used in a multi axis IEC 61131 program. 4.3.1 Overview

Figure 4-29

Network Configuration Overview

Control Element Network Selection Device Selection Tabs Configuration View

Description Displays all available networks. Displays all available devices in the network selected. Selection of configuration views. Configuration view to change settings.

Table 4-9

Network Configuration Overview Control Elements

Status

Icon OK

Description No error or warning in this network. No warnings in this network. Check devices. No errors in this network. Check devices. No error or warning in this device configuration. No warnings in this device configuration. Check configuration views. No errors in this device configuration. Check configuration views.

Network Status

Warning Error OK

Device Status

Warning Error

Table 4-10

Network Configuration Overview Status & Icons

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4.3.2

Master Configuration

For the master configuration, select the master item in the device selection. The master must be configured or all networks. 4.3.2.1 Configuration View Master

The configuration view Master allows definition of behavior of the master device.

Figure 4-30

Configuration View Master

Option NMT Master Start NMT Master Start NMT Slaves Boot Time NMT Slaves together

Default Checked Checked Checked 500 ms Checked

Description EPOS P is in master mode and is able to communicate with slaves. After bootup, the master is switching into NMT state operational. After bootup, the master is switching the slaves into NMT state operational. Time to wait before addressing slaves after reset. All slaves are starting at the same time using a broadcast service.

Table 4-11

Configuration View Master Options and Defaults

4.3.2.2

Configuration View SYNC Master

Allows definition of behavior of the SYNC Master in the network. The SYNC Master must be active if any synchronous PDO is being configured.

Figure 4-31

Configuration View SYNC Master

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Option Sync Producer SYNC COB-ID Max Base Bus Load Cycle Time Window Length Max Counter Value

Default Active 0x00000080 60% 100000 us 50% Disabled

Description Checked Enable or Disable the SYNC Master. COB-ID of the SYNC CAN Frame. Recommended Maximum Base Bus Load. Cycle Time of the SYNC CAN Frame. Window for sending and receiving synchronous PDOs. Enable or disable sending a SYNC CAN Frame including data byte containing a counter value.

Table 4-12

Configuration View SYNC Master Options and Defaults

Calculations Base Bus Load

Description Calculated bus load containing CAN frames that are cyclically transmitted. Following CAN frames are included in calculation: SYNC, PDO sync, Heartbeat. Calculated bus load containing all CAN frames that are transmitted. Following CAN frames are included: SYNC, PDO sync, Heartbeat, PDO async. Note: Asynchronous PDOs are a potential risk for bus overload. Use Inhibit Time to limit the transmission rate.

Peak Bus Load

Table 4-13

Configuration View SYNC Master Calculations

Best Practice: How to reduce Bus Load If bus load exceeds the maximum bus load, the transmission of CAN frames must be limited. Use one of the following actions to reduce the bus load.

Action

Object

Description / Effect The CAN Bitrate can be increased up to 1Mbit/s. Consider the maximum allowed bitrate for your network length: Bitrate / Max. line length according to CiA DS-102: 1 Mbit/s / 25 m 800 kBit/s 50 m 500 kBit/s / 100 m 250 kBit/s / 250 m 125 kBit/s / 500 m 50 kBit/s / 1000 m 20 kBit/s / 2500 m The cycle time of the SYNC producer may be increased to reduce the bus load. Increasing the cycle time is reducing the update rate of network variables in your IEC 61131 program. Increase the producer time of the heartbeat CAN frames. Increasing the producer time is reducing the reaction time to a broken CAN bus. Increase the inhibit time of the asynchronous PDOs. Increasing the inhibit time is reducing the update rate of network variables in your IEC 61131 program.

Increase CAN Bitrate

all

Increase Cycle Time

SYNC, PDO sync

Increase Heartbeat Producer Time

Heartbeat

Increase Inhibit Time

PDO async

Table 4-14

Configuration View SYNC Master Best Practice

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For more details click Show Network Infos:

Figure 4-32

Network Info

Parameter Cycle Time Min Cycle Time Window Length Min Window Length CAN Bitrate Base Bus Load Max Base Bus Load

Description Configured Cycle Time. Min Cycle Time calculated based on the maximum base bus load. Configured Window Length. Minimum Window Length calculated based on the maximum base bus load. Configured CAN Bitrate. Calculated bus load containing CAN frames, that are cyclically transmitted. Have a look at the detailed load table to see what types of CAN frames are included in calculation. Recommended Maximum Base Bus Load. Calculated bus load containing all CAN frames, that are transmitted. Have a look at the detailed load table to see what type of CAN frame is included in calculation. Remark: The asynchronous PDOs are a potential risk for a bus overload. Use the Inhibit Time to limit the transmission rate

Peak Bus Load

Table 4-15

Network Info Parameters

Parameter Type Object Count Time/Cycle Total Time/Cycle Load

Description Base: Bus load of this object is added to the base and peak bus load. Peak: Bus load of this object is added only to the peak bus load. Type of CAN frame transmitted. Number of CAN frames transmitted. Time to transmit one CAN frame per cycle time. Remark: For the asynchronous PDOs a mean value is calculated based on the inhibit time of the asynchronous PDO. Total time to transmit all CAN frames. Bus load caused by all objects of this type.

Table 4-16

Network Info Table Columns

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Click Show Figure to display timing diagram:

Figure 4-33

Cycle Time

4.3.2.3

Configuration View Heartbeat Control

Allows definition of the error control behavior of the master. Activate the heartbeat producer to monitor a breakdown of the master by the slave devices. Activate the heartbeat consumer to monitor a breakdown of a slave device.

Figure 4-34

Configuration View Heartbeat Control

Option Producer Heartbeat Producer Time Tolerance

Default Disabled 2000 ms 500 ms

Description Enable or disable the heartbeat producer. Transmission rate of the heartbeat CAN frame. Tolerance time for the slave heartbeat consumer. The consumer time must always be higher than the producer time. A high bus load can delay the transmission of a heartbeat CAN frame. Device: In case of a breakdown of the master (heartbeat producer), this device is going to error state. Producer: Heartbeat producer time Consumer: Heartbeat consumer time

Consumed by

Disabled

Table 4-17

Configuration View Heartbeat Control Options and Defaults Producer

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Option Consumer Heartbeat Consumer Time

Default Disabled 2000 ms

Description Enable or disable the heartbeat consumer. Expected transmission rate of the heartbeat CAN frame. Tolerance time for the master heartbeat consumer. The consumer time must always be higher than the producer time. A high bus load can delay the transmission of a heartbeat CAN frame. Device: In case of a breakdown of the master (heartbeat consumer), this device is going to error state. Producer: Heartbeat producer time Consumer: Heartbeat consumer time

Tolerance

500 ms

Produced by

Disabled

Table 4-18

Configuration View Heartbeat Control Options and Defaults Consumer

4.3.3

Slave Configuration

For slave configuration, select the network and one of the slave items in the device selection.

4.3.3.1

Configuration View Slave

Allows to define the behavior of the slave device.

Figure 4-35

Configuration View Slave

Option NMT Slave Boot Slave Mandatory Slave

Default Checked Checked Checked

Description The slave is available in CAN network as a NMT slave. The slave will be booted at the program start. Error is reported if slave cant be booted. Axis Number is used by all motion control function blocks. The default value is defined by the Node ID. Note: If no axis number is defined, the motion control function blocks cant be used. Axis Type is used by all motion control function blocks. Note: If the axis type is not defined as Standard, the motion control function blocks cant be used.

Axis Number

Axis X

Axis Type

Standard

Table 4-19

Configuration View Slave Options and Defaults

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4.3.3.2

Tab Network Variables

Allows to setup network variables for the IEC 61131 program.

Figure 4-36

Tab Network Variables

Network Variables: EPOS P [Node 1] EPOS [Internal] Displays all configured network variables sent from the master to the slave.
Column Network Variable Producer Object TxPDO Bus RxPDO Consumer Object Description Name of network variable to be used in IEC 61131 program. The network variables can be exported to a network variable file (*.poe). Object in object dictionary of the master. This object is mapped to the transmit PDO. Configured transmit PDO to send data to the slave. Direction of the data exchange. Configured receive PDO to receive data from the master. Object in object dictionary of the slave. This object is mapped to the receive PDO.

Table 4-20

Network Variables: EPOS P [Node 1] to EPOS [Internal]

Network Variables: EPOS P [Node 1] EPOS [Internal] Displays all configured network variables sent from the slave to the master.
Column Network Variable Consumer Object RxPDO Bus TxPDO Producer Object Description Name of network variable to be used in IEC 61131 program. The network variables can be exported to a network variable file (*.poe). Object in object dictionary of the master. This object is mapped to the receive PDO. Configured receive PDO to receive data from the slave. Direction of the data exchange. Configured transmit PDO to send data to the master. Object in object dictionary of the slave. This object is mapped to the transmit PDO.

Table 4-21

Network Variables: EPOS P [Node 1] from EPOS [Internal]

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Add Network Variable Either click Add Network Variable or right click .

Figure 4-37

Add Network Variable

Direction Master Slave

Parameter Consumer Object Network Variable Producer Object Producer Object

Description Object to be written by network variable. Name of network variable to be used in IEC 61131 program. Process object of master. Object to be read by network variable. Name of network variable to be used in IEC 61131 program. Process object of master.

Slave Master

Network Variable Consumer Object

Table 4-22

Add Network Variable Parameters

Delete Network Variable Either click Delete Network Variable or right click Edit PDO Links PDO links are automatically created when adding a new network variable. Edit them using right click . The dialog Edit PDO Links shows all PDOs linked between the master and the slave device. The configuration of the PDO can be changed using this dialog. .

Figure 4-38

Edit PDO Links

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Communication Parameter
Parameter COB-ID Transmission Type Description COB-ID of the linked PDOs. Synchronous: The PDO transmission is triggered by the Sync Master. Asynchronous: The PDO transmission is trigger by a value change or an event timer. Asynchronous RTR only: Do not use for network variables! Minimal transmission interval for asynchronous PDOs. Note: An inhibit time of zero is a potential risk for a bus overload! The asynchronous PDO transmission is triggered by an elapsed event timer.

Inhibit Time Event Timer

Table 4-23 PDO Link

Control Element New Delete Lock / Unlock

Edit PDO Links Communication Parameter

Description Create a new PDO link between the master and slave devices. Delete an existing PDO link between the master and slave device. Only an empty PDO link can be deleted. Remove first the mapped objects. Lock or unlock a PDO link. A locked PDO can not be used by any other network variable.

Table 4-24

Edit PDO Links PDO Link

Mapped Objects
Control Element Move To Move Up Move Down Description Move the selected objects to another PDO link. Move the selected objects up in the list of mapped objects. Move the selected object down in the list of mapped objects.

Table 4-25

Edit PDO Links Mapped Objects

Lock or Unlock PDOs Any PDO of the master or slave devices can be locked or unlocked. A locked PDO cant be used by any other network variables. Right click

Figure 4-39

Lock/unlock PDOs

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Icon Locked PDO Unlocked transmit PDO Unlocked receive PDO

Description Can not be used by any other network variables. Can be used by new network variables. Can be used by new network variables.

Table 4-26 Reset PDOs

Lock or Unlock PDOs Icons

To create a good starting point for a network variable definition, the PDO configuration can be reset. Right click

Figure 4-40

Reset PDOs

Option Reset unlinked PDOs Reset linked PDOs between EPOS P and EPOS Reset all PDOs in network

Description All active PDOs not linked to any known devices in the network will be deactivated. Inactive PDOs are then available for new network variables. All active and linked PDOs between two devices are reset. Use this option to clear the PDO configuration of two devices. All network variables are deleted. All active PDOs in a network are reset.

Table 4-27

Reset PDOs Options

Show Network Variable File The declaration of the network variables for the IEC 61131 program are shown. Right click

Save Network Variable File The declarations of the network variables for the IEC 61131 program are saved to a file (*.poe). This file can be included in a IEC 61131 program. Right click

Print Network Variable File The declarations of the network variables for the IEC 61131 program are printed. Right click

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Figure 4-41

Declaration of Network Variables

4.3.3.3

Configuration View Heartbeat Control

Allows definition of error control behavior of a slave device. Activate the heartbeat producer to monitor a breakdown of the slave by any other devices. Activate the heartbeat consumer to monitor a breakdown of any other device.

Figure 4-42

Configuration View Heartbeat Control

Option Producer Heartbeat Producer Time Tolerance

Default Disabled 2000 ms 500 ms

Description Enable or disable the heartbeat producer. Transmission rate of the heartbeat CAN frame. Tolerance time for the slave heartbeat consumer. The consumer time must always be higher than the producer time. A high bus load can delay the transmission of a heartbeat CAN frame. Device: In case of a breakdown of the master (heartbeat producer), this device is going to error state. Producer: Heartbeat producer time Consumer: Heartbeat consumer time

Consumed by

Disabled

Table 4-28

Configuration View Heartbeat Control Options and Defaults Producer

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Option Consumer Heartbeat Consumer Time

Default Disabled 2000 ms

Description Enable or disable the heartbeat consumer. Expected transmission rate of the heartbeat CAN frame. Tolerance time for the master heartbeat consumer. The consumer time must always be higher than the producer time. A high bus load can delay the transmission of a heartbeat CAN frame. Device: In case of a breakdown of the master (heartbeat consumer), this device is going to error state. Producer: Heartbeat producer time Consumer: Heartbeat consumer time

Tolerance

500 ms

Produced by

Disabled

Table 4-29

Configuration View Heartbeat Control Options and Defaults Consumer

4.3.3.4

Configuration View Bootup

Allows definition of various bootup configuration checks. During configuration, the identification values of the slave device are stored in the master. During bootup procedure the master is checking if the correct slave device is connected to the CAN bus. If a bootup check fails the IEC 61131 program will not be started.

Figure 4-43

Configuration View Bootup

Bootup Check Device Type Vendor ID Product Code Revision Number Serial Number Configuration Date Time

Default Disabled Disabled Disabled Disabled Disabled Disabled

Description Contains information about the device type. The lower 16-bit describes the CANopen device profile (i.e. 0x0192 = DSP 402). Contains a unique value allocated to each manufacturer (i.e. 0x000000FB = maxon motor ag). Contains a specific device version (i.e. 0x62100000 = Hardware Version EPOS 24/5). Contains a specific firmware version (i.e. 0x20320000 = Software Version EPOS 24/5). Contains a unique value allocated to each device (i.e. 0x62100000 = Hardware Version EPOS 24/5). Contains information about the last change of the configuration settings.

Table 4-30

Configuration View Bootup Options and Defaults Consumer

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4.3.4

Minimal Network Configuration

In order to use a motion control axis in a IEC 61131 program, the following configuration steps will be necessary. 1) Step 1: Create Project in EPOS Studio a) Select menu item New Project in menu File. b) Select an EPOS P project template and click Next. c) Enter project name, destination directory and click Finish. 2) Step 2: Scan the Network Topology a) Change to tab Communication in navigation window. b) Select icon for CAN network and execute command Scanning Devices in context menu. c) Enter scanning settings. d) Start Scanning. e) Click OK to close dialog Scanning Devices. f) Connect all new scanned devices. 3) Step 3: Open the Tool Network Configuration a) Change to tab Tools in navigation window. b) Select device EPOS P in device selection. c) Click item Network Configuration to open tool. 4) Step 4: Minimal Master Configuration a) Select master device EPOS P in device selection. b) Select configuration view Master and configure following options: NMT Master: Enabled Start NMT Master: Enabled Start NMT Slaves: Enabled Boot Time: 500 ms Start All NMT Slaves together: Enabled c) Select configuration view SYNC Master and disable Sync Producer. d) Select configuration view Heartbeat Control and disable Heartbeat Producer. 5) Step 5: Minimal Slave Configuration a) Select one of the slave devices in device selection. b) Select configuration view Slave and configure following options: NMT Slave: Enabled Boot Slave: Enabled Mandatory Slave: Enabled Axis Number: Select the axis number for example corresponding to the Node Id Axis Type: Standard c) Select configuration view Heartbeat Control and disable Heartbeat Producer. d) Select configuration view Booting and disable all bootup checks. e) Repeat slave configuration for all slaves in your system. 6) Step 6: Save Network Configuration Click OK to save network configuration. 7) Step 7: Start writing your IEC 61131 program Open programming tool and write your program addressing network devices.

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4.3.4.1

Communication via Function Blocks

In order to address network devices using motion control function blocks, all devices need a unique axis number. Executing the minimal network configuration for all devices. The devices can be addressed without any further configuration steps. Motion Control Function Blocks
Function Block Parameter AXIS_REF.AxisNo = Axis Number Parameter Function Block Example Configuration Axis Number Configuration View Slave:

Table 4-31

Motion Control Function Block: Configuration of Axis Number

CANopen DS-301 Function Blocks

Function Block Parameter Device: Node Id Port: 0 internal port, 1 CAN port Parameter Configuration Node Id

Function Block Example:

Device Selection:

Can be changed by DIP switch or Startup Wizard

Table 4-32

CANopen DS-301 Function Block: Configuration of Node ID

4.3.4.2

Communication via Network Variables

In order to address network devices using network variables, some additional configuration steps are necessary. 1) Step 1: Open Configuration View Network Variables a) Open tool Network Configuration. b) Select one of the slave devices in device selection and activate configuration view Network Variables 2) Step 2: Define Output Network Variables Network Variables from the master to the slave can be used to control a slave device. a) Click Add Network Variable in the upper part of the view. b) Select a consumer object in selection combo box. c) Click OK to confirm selection. d) Repeat steps for each network variable

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Network Variable from IEC 61131 Program to Slave

Figure 4-44

Output Network Variables

3) Step 3: Define Input Network Variables Network Variables from the slave to the master can be used to monitor actual values. a) Click Add Network Variable in the lower part of the view. b) Select a producer object in selection combo box. c) Click OK to confirm selection. d) Repeat above steps for every network variable.

Network Variable from Slave to IEC 61131 Program

Figure 4-45

Input Network Variables

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4) Step 4: Network Variable File (*.poe) a) Click browse button on the bottom of the view. b) Enter network variable file name for export and close dialog.

Figure 4-46

Network Variable File

5) Step 5: Save Network Configuration and Export Network Variables Click OK to save network configuration. The network variables are exported to selected network variable file. 6) Step 6: Import Network Variables to IEC 61131 program a) Open your IEC 61131 program in the programming tool Open PCS. b) Select the menu item Import in the submenu File of the menu File. c) Click the context menu item Link to Active Resource to use the network variables.

Figure 4-47

Project Browser in Programming Tool

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Function Blocks
For every function block, you will find a brief description, a block diagram, a table listing the available variables, remarks and explanations on the variables and their behavior, and the Function Block call in type.

Please observe below information prior engaging with functionalities of further describes function blocks. Generally applicable Parameters Function Block calls use programming language ST. Using the Network Configuration Tool, axis number of internal and external axes may be set as desired. Thereby, respect permitted value range. The input/output variable Axis defines the addressed axis. The output variable Error signals an error having occurred during execution of the function block. The output variable ErrorID allows to get more information on the error cause. The output variable Done signals the successful read operation. Important! Generally applicable Rules The execution of a function block instance might take longer than one PLC cycle. For a proper working system, a function block instance must be called (Execute or Enable) at every program cycle until its termination is signalled by the output Done, Error or Abort. Upon every call, the function block instance will continue at its actual internal state (at the position it stopped during the previous PLC program cycle). Breaking this rule will cause system errors, especially if the function block uses CAN communication services which might not have been finished fast enough.

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5.1

Motion Control Function Blocks

5.1.1 MC_Power

Controls the power stage of the axis (enabled or disabled).

Figure 5-48

MC_Power

Important MC_Power must be called until output Status has same value as input Enable.

5.1.1.1
Variable Input/Output Input
*I)

Variables
Data Type AXIS_REF BOOL BOOL DINT BOOL Value Default 0 FALSE FALSE 0 FALSE 031 TRUE, FALSE TRUE, FALSE For codes page 8-90 TRUE, FALSE Range Unit or Element [Type] AxisNo [USINT]

Name Axis Enable Error

Output*O)

ErrorID Status

I) O)

As long as Enable is TRUE (positive state), the power stage of the axis is activated. Status shows state of power stage. MC_Power Variables

Table 5-33

5.1.1.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbPower : MC_Power; (* fbPower is instance of MC_Power *) END_VAR ------------------------------------------------------------------------------------(* Call function block instance *) fbPower(Axis := myAxis, Enable := TRUE);

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5.1.2

MC_Reset

Resets all internal axis-related errors.

Figure 5-49

MC_Reset

Important MC_Reset has to be called until termination is signalled at the output (Done or Error).

5.1.2.1
Variable Input/Output Input
*I)

Variables
Data Type AXIS_REF BOOL BOOL BOOL DINT Value Default 0 FALSE FALSE FALSE 0 031 TRUE, FALSE TRUE, FALSE TRUE, FALSE For codes page 8-90 Range Unit or Element [Type] AxisNo [USINT]

Name Axis Execute Done

Output

*O)

Error ErrorID

I) O)

At positive edge of Execute, axis status changes from Errorstop to StandStill. After execution of MC_Reset, the power stage must be re-enabled (MC_Power on page 5-42). Done signals successful reset of axis status. MC_Reset Variables

Table 5-34

5.1.2.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbReset : MC_Reset; (* fbReset is instance of MC_Reset *) END_VAR ------------------------------------------------------------------------------------(* Call function block instance *) fbReset(Axis := myAxis, Execute := TRUE);

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5.1.3

MC_ReadStatus

Returns the status of the axis with respect to the motion currently in progress.

Figure 5-50

MC_ReadStatus

5.1.3.1
Variable Input/Output Input*I) Name Axis Enable

Variables
Data Type AXIS_REF BOOL BOOL BOOL BOOL BOOL DINT BOOL BOOL BOOL BOOL BOOL Value Default 0 FALSE FALSE FALSE FALSE FALSE 0 FALSE FALSE FALSE FALSE FALSE 031 TRUE, FALSE TRUE, FALSE TRUE, FALSE TRUE, FALSE TRUE, FALSE For codes page 8-90 TRUE, FALSE TRUE, FALSE TRUE, FALSE TRUE, FALSE TRUE, FALSE Range Unit or Element [Type] AxisNo [USINT]

ContinuousMotion Disabled DiscreteMotio Error Output*O) ErrorID Errorstop Homing StandStill Stopping Valid

I) O)

As long as Enable is TRUE (positive state), status parameter is continuously being read. TRUE (positive state) of Valid signals successful update of axis status. MC_ReadStatus Variables

Table 5-35

Details on possible states (Figure 5-51).

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Notes: 1) In Errorstop or Stopping, all function blocks can be called, although they will not be executed, except MC_Reset and Error. They will generate the transition to StandStill or Errorstop, respectively. 2) Power.Enable = TRUE and no error present in the axis. 3) MC_Stop.Done 4) MC_Power.Enable = FALSE Figure 5-51 MC_ReadStatus States

5.1.3.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbRead : MC_ReadStatus; (* fbRead is instance of MC_ReadStatus *) END_VAR ------------------------------------------------------------------------------------(* Call function block instance *) fbRead(Axis := myAxis, Enable := TRUE); IF fbRead.Valid & fbRead.Errorstop THEN ... END_IF;

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5.1.4

MC_MoveAbsolute

Commands a controlled motion to a specified absolute position using a trapezoidal or sinusoidal profile.

Figure 5-52

MC_MoveAbsolute

Important! Execution of the instance might take longer than one PLC cycle (page 5-41).

5.1.4.1
Variable Input/Output Name Axis Acceleration Deceleration Execute Input*I) Position Velocity Abort Output*O) Done Error ErrorID

Variables
Data Type AXIS_REF UDINT UDINT BOOL DINT UDINT BOOL BOOL BOOL DINT Value Default 0 0 0 FALSE 0 0 FALSE FALSE FALSE 0 031 04294967295 04294967295 TRUE, FALSE -2147483648 +2147483647 025000 TRUE, FALSE TRUE, FALSE TRUE, FALSE For codes page 8-90 Range Unit or Element [Type] AxisNo [USINT] rpm/s rpm/s qc rpm

I)

O)

A positive edge of Execute triggers a new absolute movement using a profile corresponding to Velocity, Acceleration and Deceleration. Position is defined in quad count (encoder increments) [qc]. Successful positioning is signalled with a positive value (TRUE) at Done. Execution of this instance is immediately stopped if another function block instance is executing movement using the same axis. In this case a positive state (TRUE) at Abort will be set. Done, Abort and Error can be reset by a negative state (FALSE) to Execute. If Execute is reset before completion of positioning, Done, Abort and Error show status of positioning during one cycle, then they are reset to negative state (FALSE). Velocity, Acceleration and Deceleration must only be defined upon first call repeated calls will use value of first call and do not require further definition. MC_MoveAbsolute Variables

Table 5-36

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Details on possible calling sequences (Figure 5-53). The first sequence shows two complete movements. The second instance will be initiated upon completion of the first movement. The second sequence shows an interrupted movement. Setting the variable Test will trigger the second instance while fist instance is being executed.

Figure 5-53

MC_MoveAbsolute Sequence

5.1.4.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbMove : MC_MoveAbsolute; (* fbMove is instance of MC_MoveAbsolute *) Start : BOOL := FALSE; Pos : DINT := 10000; END_VAR ------------------------------------------------------------------------------------(* Call function block instance *) fbMove(Axis:=myAxis,Execute:=Start,Position:=Pos,Velocity:=25,Acceleration:=50,Deceleration:=50);

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5.1.5

MC_MoveRelative

Commands a controlled motion of a specified distance relative to the actual position at the time of the execution using trapezoidal or sinusoidal profile. The new absolute target position is defined by the distance added to the actual position.

Figure 5-54

MC_MoveRelative

Important! Execution of the instance might take longer than one PLC cycle (page 5-41).

5.1.5.1
Variable Input/Output Name Axis Acceleration Deceleration Input*I) Distance Execute Velocity Abort Output*O) Done Error ErrorID

Variables
Data Type AXIS_REF UDINT UDINT DINT BOOL UDINT BOOL BOOL BOOL DINT Value Default 0 0 0 0 FALSE 0 FALSE FALSE FALSE 0 031 04294967295 04294967295 -2147483648 +2147483647 TRUE, FALSE 025000 TRUE, FALSE TRUE, FALSE TRUE, FALSE For codes page 8-90 Range Unit or Element [Type] AxisNo [USINT] rpm/s rpm/s qc rpm

I)

O)

A positive edge of Execute triggers a new absolute movement using a profile corresponding to Velocity, Acceleration and Deceleration. The defined distance is added to the actual position and commanded as a new absolute target position. Distance is defined in quadcount (encoder increments) [qc]. Successful positioning is signalled with a positive value (TRUE) at Done. Execution of this instance is immediately stopped if another function block instance is executing movement using the same axis. In this case a positive state (TRUE) at Abort will be set. Done, Abort and Error can be reset by a negative state (FALSE) to Execute. If Execute is reset before completion of positioning, Done, Abort and Error show status of positioning during one cycle, then they are reset to negative state (FALSE). Velocity, Acceleration and Deceleration must only be defined upon first call repeated calls will use value of first call and do not require further definition. MC_MoveRelative Variables

Table 5-37

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Details on possible calling sequences (Figure 5-55). The first sequence shows two complete movements. The second function block instance is started after the complete termination of the first movement. The second sequence shows an interrupted movement. Setting the variable Test triggers the start of the second function block instance during execution of the first one.

Figure 5-55

MC_MoveRelative Sequence

5.1.5.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbMoveR : MC_MoveRelative; (* fbMove is instance of MC_MoveRelative *) Start : BOOL := FALSE; Pos : DINT := 10000; END_VAR ------------------------------------------------------------------------------------(* Call function block instance *) fbMoveR(Axis := myAxis, Execute := Start, Distance := Pos, Velocity := 1000, Acceleration := 1000, Deceleration := 1000);

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5.1.6

MC_MoveVelocity

Commands a continuously controlled motion at a specified velocity using a trapezoidal or sinusoidal acceleration profile.

Figure 5-56

MC_MoveVelocity

Important! Execution of the instance might take longer than one PLC cycle (page 5-41).

5.1.6.1
Variable Input/Output Name Axis Acceleration Deceleration Input*I) Execute Direction Velocity Abort Output*O) Error ErrorID InVelocity

Variables
Data Type AXIS_REF UDINT UDINT BOOL Enum MC_Direction UDINT BOOL BOOL DINT BOOL Value Default 0 0 0 FALSE MCpositive 0 FALSE FALSE 0 FALSE 031 04294967295 04294967295 TRUE, FALSE MPpositive MPnegative 025000 TRUE, FALSE TRUE, FALSE For codes page 8-90 TRUE, FALSE Range Unit or Element [Type] AxisNo [USINT] rpm/s rpm/s qc rpm

I)

O)

A positive edge of Execute triggers a new absolute continues velocity movement defined by Velocity using values of Acceleration and Deceleration. MC_Stop will stop the movement. Another call changes the active velocity, thereby Velocity must be of positive value higher than 0. Direction defines the movement direction and is defined in quadcount (encoder increments) [qc]. InVelocity signals achievement of commanded velocity. Another call executing a movement using the same axis will immediately stop the movement. In this case a positive state (TRUE) at Abort will be set. InVelocity, Abort and Error can be reset by a negative state (FALSE) to Execute. If reset before completion of positioning, InVelocity, Abort and Error show status of positioning during one cycle, then they are reset to negative state (FALSE). Velocity, Acceleration and Deceleration must only be defined upon first call repeated calls will use value of first call and do not require further definition. MC_MoveVelocity Variables

Table 5-38

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Details on possible calling sequences (Figure 5-57). The first sequence shows two complete movements. The second function block instance is started after the complete termination of the first movement. The second sequence shows an interrupted movement. Setting the variable Test triggers the start of the second function block instance during execution of the first one.

Figure 5-57

MC_MoveVelocity Sequence

5.1.6.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbVelo : MC_MoveVelocity; (* fbVelo is instance of MC_MoveVelocity *) Start : BOOL := FALSE; END_VAR ------------------------------------------------------------------------------------(* Call function block instance *) fbVelo(Axis := myAxis, Execute := Start, Velocity := 2000, Acceleration := 1000, Deceleration := 1000, Direction := MCpositive);

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5.1.7

MC_Home

Commands the axis to perform the homing procedure. The absolute home position is determined using one of the available homing methods (for details separate document EPOS Firmware Specification).

Figure 5-58

MC_Home

5.1.7.1
Variable Input/Output Name Axis Execute Input*I) Position Abort Output*O) Done Error ErrorID

Variables
Data Type AXIS_REF BOOL DINT BOOL BOOL BOOL DINT Value Default 0 FALSE 0 FALSE FALSE FALSE 0 031 TRUE, FALSE -2147483648 +2147483647 TRUE, FALSE TRUE, FALSE TRUE, FALSE For codes page 8-90 Range Unit or Element [Type] AxisNo [USINT] qc

I)

O)

A positive edge of Execute triggers a new homing procedure. Position determines the new home position value after successful completion homing procedure and is defined in quadcount (encoder increments) [qc]. Position must only be defined upon first call repeated calls will use value of first call and do not require further definition. Additional parameters for a homing procedure must be configured using MC_WriteParameter (page 5-58), for detailed information separate document EPOS Firmware Specification. Done signals successful termination of the procedure. If another instance is starting a homing procedure using the same axis, the execution of the first instance is immediately being stopped, Abort is set to positive state (TRUE). Done, Abort and Error can be reset by a negative state (FALSE) to Execute. If Execute is reset before completion of positioning, Done, Abort and Error show status of positioning during one cycle, then they are reset to negative state (FALSE). MC_Home Variables

Table 5-39

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5.1.7.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbHome : MC_Home; (* fbHome is instance of MC_Home *) Start : BOOL := FALSE; END_VAR ------------------------------------------------------------------------------------(* Call function block instance *) fbHome(Axis := myAxis, Execute := Start, Position := 0);

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5.1.8

MC_Stop

Commands a controlled motion stop of the axis using a trapezoidal or sinusoidal deceleration profile.

Figure 5-59

MC_Stop

5.1.8.1
Variable Input/Output Input*I) Name Axis Execute Deceleration Error Output
*O)

Variables
Data Type AXIS_REF BOOL UDINT BOOL DINT BOOL Value Default 0 FALSE 0 FALSE 0 FALSE 031 TRUE, FALSE 04294967295 TRUE, FALSE For codes page 8-90 TRUE, FALSE Range Unit or Element [Type] AxisNo [USINT] rpm/s

ErrorID InVelocity

I) O)

A positive edge of Execute stops the axis using a defined deceleration profile. Done and Error are reset by setting a negative state (FALSE) to Execute. If Execute is reset before completion of positioning, Done and Error will continue to signal the stoppage during one cycle, and are then reset to negative state (FALSE). MC_Stop Variables

Table 5-40

5.1.8.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbStop : MC_Stop; (* fbStop is instance of MC_Stop *) Start : BOOL := FALSE; END_VAR ------------------------------------------------------------------------------------(* Call function block instance *) fbStop(Axis := myAxis, Execute := Start, Deceleration := 1000);

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5.1.9

MC_ReadParameter

Returns an axis parameter value.

Figure 5-60

MC_ReadParameter

Important! Execution of the instance might take longer than one PLC cycle (page 5-41).

5.1.9.1
Variable Input/Output Name Axis Enable

Variables
Data Type AXIS_REF BOOL Value Default 0 FALSE 031 TRUE, FALSE PLCopen parameter: 1 CommandedPosition 2 SWLimitPos 3 SWLimitNeg 7 MaxPositionLag 8 MaxVelocitySystem 9 MaxVelocityAppl 10 ActualVelocity 11 CommandedVelocity 13 MaxAccelerationAppl 15 MaxDecelerationAppl CANopen objects: 16#xxxxyyzz multiplexer (hex) xxxx: Object Index (hex) yy: Object Sub-index (hex) zz: Object Length (hex) TRUE, FALSE TRUE, FALSE For codes page 8-90 04294967295 Range Unit or Element [Type] AxisNo [USINT]

Input*I)

ParameterNumber

UDINT

Done Output*O) Error ErrorID Value

BOOL BOOL DINT UDINT

FALSE FALSE 0 0

I)

O)

As long as Enable is TRUE (positive state), the value of a specified parameter will continuously be read. ParameterNumber is defining the parameter to be read. Besides the listed parameter, CANopen objects can be read using ParameterNumber as a multiplexer. Thus, allowing to read all EPOS objects from the object dictionary (separate document EPOS P Firmware Specification). The multiplexer (for details Multiplexer Example on page 5-56) is composed of 2 bytes object index (Byte 3 and 2), 1 byte object sub-index (Byte 1) and 1 byte object length (Byte 0). Value allows retrieval of the value. MC_ReadParameter Variables

Table 5-41

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5.1.9.2

Multiplexer Example

ParameterNumber...............= 16#207C0102 Name...................................= Analog Input 1 of EPOS Object Index ........................= 16#207C Object Sub-index.................= 16#01 Object Length......................= 16#02

5.1.9.3

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbReadP : MC_ReadParameter; (* fbReadP is instance of MC_ReadParameter *) END_VAR ------------------------------------------------------------------------------------(* Function Block call for updating the actual velocity *) fbReadP(Axis := myAxis, Enable := TRUE, ParameterNumber := 10); (* Function Block call for reading the CANopen object Analog Input 1*) fbReadP(Axis := myAxis, Enable := TRUE, ParameterNumber := 16#207C0102);

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5.1.10

MC_ReadBoolParameter

Returns an axis parameter value.

Figure 5-61

MC_ReadBoolParameter

Important! Execution of the instance might take longer than one PLC cycle (page 5-41).

5.1.10.1
Variable Input/Output Name Axis Enable Input*I)

Variables
Data Type AXIS_REF BOOL UDINT BOOL BOOL DINT UDINT Value Default 0 FALSE 0 FALSE FALSE 0 0 031 TRUE, FALSE 4 EnableLimitPos 5 EnableLimitNeg 6 EnablePosLagMonitoring TRUE, FALSE TRUE, FALSE For codes page 8-90 04294967295 Range Unit or Element [Type] AxisNo [USINT]

ParameterNumber Done

Output*O)

Error ErrorID Value

I)

O)

As long as Enable is TRUE (positive state), the value of a specified boolean parameter will continuously be read. ParameterNumber is defining the parameter to be read. Value allows retrieval of the value. MC_ReadBoolParameter Variables

Table 5-42

5.1.10.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbReadB : MC_ReadBoolParameter; (* fbReadB is instance of MC_ReadBoolParameter *) END_VAR ------------------------------------------------------------------------------------(* Function Block call for updating the actual velocity*) fbReadB(Axis := myAxis, Enable := TRUE, ParameterNumber := 4);

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5.1.11

MC_WriteParameter

Modifies the value of an axis parameter.

Figure 5-62

MC_WriteParameter

Important! Execution of the instance might take longer than one PLC cycle (page 5-41).

5.1.11.1
Variable Input/Output Name Axis Enable

Variables
Data Type AXIS_REF BOOL Value Default 0 FALSE 031 TRUE, FALSE PLCopen parameter: 2 SWLimitPos 3 SWLimitNeg 7 MaxPositionLag 8 MaxVelocitySystem 9 MaxVelocityAppl 11 CommandedVelocity 13 MaxAccelerationAppl 15 MaxDecelerationAppl CANopen objects: 16#xxxxyyzz multiplexer (hex) xxxx: Object Index (hex) yy: Object Sub-index (hex) zz: Object Length (hex) 04294967295 TRUE, FALSE TRUE, FALSE For codes page 8-90 Range Unit or Element [Type] AxisNo [USINT]

Input*I)

ParameterNumber

UDINT

Value Done Output

*O)

UDINT BOOL BOOL DINT

0 FALSE FALSE 0

Error ErrorID

I)

O)

A positive edge at Execute triggers a write operation of the specified parameter. ParameterNumber is defining the parameter to be written. Besides the listed parameter, CANopen objects can be read using ParameterNumber as a multiplexer. Thus, allowing to read all EPOS objects from the object dictionary (separate document EPOS P Firmware Specification). The multiplexer (for details Multiplexer Example on page 5-59) is composed of 2 bytes object index (Byte 3 and 2), 1 byte object sub-index (Byte 1) and 1 byte object length (Byte 0). Successful write operation is signalled with a positive value (TRUE) at Done. MC_WriteParameter Variables

Table 5-43

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5.1.11.2

Multiplexer Example

ParameterNumber .............. = 16#20780102 Name .................................. = Digital Outputs of EPOS Object Index........................ = 16#2078 Object Sub-index ................ = 16#01 Object Length ..................... = 16#02

5.1.11.3

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbReadB : MC_ReadBoolParameter; (* fbReadB is instance of MC_ReadBoolParameter *) END_VAR ------------------------------------------------------------------------------------(* Function Block call for updating the actual velocity*) fbReadB(Axis := myAxis, Enable := TRUE, ParameterNumber := 4);

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5.1.12

MC_ReadActualPosition

Returns the actual position of an axis.

Figure 5-63

MC_ReadActualPosition

Important! Execution of the instance might take longer than one PLC cycle (page 5-41).

5.1.12.1
Variable Input/Output Input
*I)

Variables
Data Type AXIS_REF BOOL BOOL BOOL DINT DINT Value Default 0 FALSE FALSE FALSE 0 0 031 TRUE, FALSE TRUE, FALSE TRUE, FALSE For codes page 8-90 -2147483648 [min(DINT)] +2147483647 [max(DINT)] Range Unit or Element [Type] AxisNo [USINT] qc

Name Axis Enable Done Error ErrorID Position

Output*O)

I) O)

As long as Enable is TRUE (positive state), the actual position will continuously be read. The actual position can be retrieved from Position. Position is defined in quadcount (encoder increments) [qc]. MC_ReadActualPosition Variables

Table 5-44

5.1.12.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbPos : MC_ReadActualPosition; (* fbPos is instance of MC_ReadActualPosition *) END_VAR ------------------------------------------------------------------------------------(* Function Block call for reading the actual position *) fbPos(Axis := myAxis, Enable := TRUE);

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5.1.13

MC_ReadActualVelocity

Returns the actual velocity of an axis.

Figure 5-64

MC_ReadActualVelocity

Important! Execution of the instance might take longer than one PLC cycle (page 5-41).

5.1.13.1
Variable Input/Output Input
*I)

Variables
Data Type AXIS_REF BOOL BOOL BOOL DINT DINT Value Default 0 FALSE FALSE FALSE 0 0 031 TRUE, FALSE TRUE, FALSE TRUE, FALSE For codes page 8-90 -2147483648 [min(DINT)] +2147483647 [max(DINT)] Range Unit or Element [Type] AxisNo [USINT] rpm

Name Axis Enable Done Error ErrorID Velocity

Output*O)

I) O)

As long as Enable is TRUE (positive state), the actual velocity will continuously be read. The actual velocity can be retrieved from Velocity. MC_ReadActualVelocity Variables

Table 5-45

5.1.13.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbVel : MC_ReadActualVelocity; (* fbVel is instance of MC_ReadActualVelocity *) END_VAR ------------------------------------------------------------------------------------(* Function Block call for reading the actual velocity *) fbVel(Axis := myAxis, Enable := TRUE);

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5.1.14

MC_ReadActualCurrent

Returns the actual current of an axis.

Figure 5-65

MC_ReadActualCurrent

Important! Execution of the instance might take longer than one PLC cycle (page 5-41).

5.1.14.1
Variable Input/Output Input
*I)

Variables
Data Type AXIS_REF BOOL BOOL BOOL DINT INT Value Default 0 FALSE FALSE FALSE 0 0 031 TRUE, FALSE TRUE, FALSE TRUE, FALSE For codes page 8-90 - 32768 [min(INT)] + 32767 [max(INT)] Range Unit or Element [Type] AxisNo [USINT] mA

Name Axis Enable Done Error ErrorID Current

Output*O)

I) O)

As long as Enable is TRUE (positive state), the actual current will continuously be read. The actual velocity can be retrieved from Current. MC_ReadActualCurrent Variables

Table 5-46

5.1.14.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbCur : MC_ReadActualCurrent; (* fbCur is instance of MC_ReadActualCurrent *) END_VAR ------------------------------------------------------------------------------------(* Function Block call for reading the actual current *) fbCur(Axis := myAxis, Enable := TRUE);

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5.1.15

MC_ReadAxisError

Returns the first entry in the error history of the EPOS device.

Figure 5-66

MC_ReadAxisError

5.1.15.1
Variable Input/Output Input
*I)

Variables
Data Type AXIS_REF BOOL BOOL BOOL DINT Value Default 0 FALSE FALSE FALSE 0 031 TRUE, FALSE TRUE, FALSE TRUE, FALSE EPOS device error item [ 7 ] on page 1-8 Range Unit or Element [Type] AxisNo [USINT]

Name Axis Enable Done

Output*O)

Error ErrorID

I) O)

As long as Enable is TRUE (positive state), the value of the first entry in the error history of the EPOS will continuously be read. With successful operation (Error = FALSE), ErrorID contains the axis error (item [ 7 ] on page 1-8). MC_ReadAxisError Variables

Table 5-47

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5.2

Maxon Utility Function Blocks

5.2.1 MU_GetAllDigitalInputs

Returns the state of all digital inputs.

Figure 5-67

MU_GetAllDigitalInputs

5.2.1.1
Variable Input/Output Input
*I)

Variables
Data Type AXIS_REF BOOL BOOL BOOL BOOL DINT BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL Value Default 0 FALSE FALSE FALSE FALSE 0 FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE 031 TRUE, FALSE TRUE, FALSE TRUE, FALSE TRUE, FALSE For codes page 8-90 TRUE, FALSE TRUE, FALSE TRUE, FALSE TRUE, FALSE TRUE, FALSE TRUE, FALSE TRUE, FALSE TRUE, FALSE TRUE, FALSE TRUE, FALSE TRUE, FALSE TRUE, FALSE Range Unit or Element [Type] AxisNo [USINT]

Name Axis Enable Done Drive Enable Error ErrorID GenPurpA GenPurpB GenPurpB GenPurpD GenPurpE GenPurpF GenPurpG GenPurpH HomeSwitch NegLimitSwitch PositionMarker PosLimitSwitch

Output

I)

As long as Enable is TRUE (positive state), the status of all digital inputs will continuously be read. MU_GetAllDigitalInputs Variables

Table 5-48

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5.2.1.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbGetAllDigitalInputs : MU_GetAllDigitalInputs; (* fbGetAllDigitalInputs is instance of MU_GetAllDigitalInputs *) END_VAR --------------------------------------------------------------------------------------------(* Function Block call for reading the status of all digital inputs *) fbGetAllDigitalInputs(Axis := myAxis, Enable := TRUE);

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5.2.2

MU_GetDigitalInput

Returns the state of a specific digital input.

Figure 5-68

MU_GetDigitalInput

5.2.2.1
Variable Input/Output Name Axis Enable

Variables
Data Type AXIS_REF BOOL Value Default 0 FALSE 031 TRUE, FALSE NegLimitSwitch = 0, PosLimitSwitch = 1, HomeSwitch = 2, PositionMarker = 3, Enable = 4, GenPurpH = 8, GenPurpG = 9, GenPurpF = 10, GenPurpE = 11, GenPurpD = 12, GenPurpC = 13, GenPurpB = 14, GenPurpA = 15 TRUE, FALSE TRUE, FALSE For codes page 8-90 TRUE, FALSE Range Unit or Element [Type] AxisNo [USINT]

Input*I)

Purpose

INT

Done Output Error ErrorID State

BOOL BOOL DINT BOOL

FALSE FALSE 0 FALSE

I)

As long as Enable is TRUE (positive state), the status of a digital inputs will continuously be read. Purpose defines the digital input to be read. MU_GetDigitalInput Variables

Table 5-49

5.2.2.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbGetDigitalInput : MU_GetDigitalInput; (* fbGetDigitalInput is instance of MU_GetDigitalInput *) END_VAR ------------------------------------------------------------------------------------(* Function Block call for reading the status of home switch *) fbGetDigitalInput(Axis := myAxis, Enable := TRUE, Purpose :=2);

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5.2.3

MU_GetAnalogInput

Returns the state of a specific digital input.

Figure 5-69

MU_GetAnalogInput

5.2.3.1
Variable Input/Output Input*I) Name Axis Enable Number Done Output Error ErrorID Value

Variables
Data Type AXIS_REF BOOL USINT BOOL BOOL DINT DINT Value Default 0 FALSE 0 FALSE FALSE 0 0 031 TRUE, FALSE 1, 2 TRUE, FALSE TRUE, FALSE For codes page 8-90 05000 Range Unit or Element [Type] AxisNo [USINT] vV

I)

As long as Enable is TRUE (positive state), the status of a digital inputs will continuously be read. Purpose defines the digital input to be read. MU_GetAnalogInput Variables

Table 5-50

5.2.3.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbGetAnalogInput : MU_GetAnalogInput; (* fbGetAnalogInput is instance of MU_GetAnalogInput *) END_VAR ------------------------------------------------------------------------------------(* Function Block call for reading the value of the analog input 2 *) fbGetAnalogInput(Axis := myAxis, Enable := TRUE, Number :=2);

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5.2.4

MU_SetAllDigitalOutputs

Modifies the value of all digital outputs.

Figure 5-70

MU_SetAllDigitalOutputs

5.2.4.1
Variable Input/Output Name Axis Execute GenPurpA Input*I) GenPurpB GenPurpC GenPurpD Done Output Error ErrorID

Variables
Data Type AXIS_REF BOOL BOOL BOOL BOOL BOOL BOOL BOOL DINT Value Default 0 FALSE FALSE FALSE FALSE FALSE FALSE FALSE 0 031 TRUE, FALSE TRUE, FALSE TRUE, FALSE TRUE, FALSE TRUE, FALSE TRUE, FALSE TRUE, FALSE For codes page 8-90 Range Unit or Element [Type] AxisNo [USINT]

I)

A positive edge of Execute triggers a write operation of all digital outputs. MU_SetAllDigitalOutputs Variables

Table 5-51

5.2.4.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbSetAllDigitalOutputs : MU_SetAllDigitalOutputs; (* fbSetAllDigitalOutputs is instance of MU_SetAllDigitalOutputs *) END_VAR ------------------------------------------------------------------------------------(* Function Block call for setting the value of all digital outputs to TRUE *) fbGetAnalogInput(Axis := myAxis, Execute := TRUE, GenPurpA := TRUE, GenPurpB := TRUE, GenPurpC := TRUE, GenPurpD := TRUE);

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5.2.5

MU_GetDeviceErrorCount

Returns the number of actual errors.

Figure 5-71

MU_GetDeviceErrorCount

5.2.5.1
Variable Input/Output Input*I) Name Axis Enable Count Output*O) Done Error ErrorID

Variables
Data Type AXIS_REF BOOL USINT BOOL BOOL DINT Value Default 0 FALSE 0 FALSE FALSE 0 031 TRUE, FALSE 0255 TRUE, FALSE TRUE, FALSE For codes page 8-90 Range Unit or Element [Type] AxisNo [USINT]

I) O)

As long as Enable is TRUE (positive state), the number of existing errors will continuously be read. The actual number of existing errors can be read from Count. MU_GetDeviceErrorCount Variables

Table 5-52

5.2.5.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbGetDeviceErrorCount : MU_GetDeviceErrorCount; (* fbGetDeviceErrorCount is instance of MU_GetDeviceErrorCount *) END_VAR ------------------------------------------------------------------------------------(* Function Block call for reading the number of existing errors *) fbGetDeviceErrorCount(Axis := myAxis, Enable := TRUE);

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5.2.6

MU_GetDeviceError

Returns the error code of a specific entry in the error history.

Figure 5-72

MU_GetDeviceError

5.2.6.1
Variable Input/Output Input*I) Name Axis Enable Number DeviceError Output*O) Done Error ErrorID

Variables
Data Type AXIS_REF BOOL USINT UDINT BOOL BOOL DINT Value Default 0 FALSE 1 0 FALSE FALSE 0 031 TRUE, FALSE 1count (page 5-69) 04294967265 TRUE, FALSE TRUE, FALSE For codes page 8-90 Range Unit or Element [Type] AxisNo [USINT]

I) O)

As long as Enable is TRUE (positive state), the error code of a specific entry in the error history will continuously be read. The error code can be read from DeviceError. MU_GetDeviceError Variables

Table 5-53

5.2.6.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbGetDeviceError : MU_GetDeviceError; (* fbGetDeviceError is instance of MU_GetDeviceError *) END_VAR ------------------------------------------------------------------------------------(* Function Block call for reading the error code of the second entry in the error history *) fbGetDeviceErrorCount(Axis := myAxis, Enable := TRUE, Number := 2);

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5.2.7

MU_GetObject

Returns the value of an EPOS object.

Figure 5-73

MU_GetObject

5.2.7.1
Variable Input/Output Input*I) Name Axis Execute Index SubIndex Done Output*O) Error ErrorID Value

Variables
Data Type AXIS_REF BOOL UINT USINT BOOL BOOL DINT UDINT Value Default 0 FALSE 0 0 FALSE FALSE 0 0 031 TRUE, FALSE 065535 0255 TRUE, FALSE TRUE, FALSE For codes page 8-90 04294967265 Range Unit or Element [Type] AxisNo [USINT]

I) O)

A positive edge of Execute triggers a read operation of a specific EPOS object. Index and SubIndex define the object to be read. The value of the object can be read from the Value. MU_GetObject Variables

Table 5-54

5.2.7.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbGetObject : MU_GetObject; (* fbGetObject is instance of MU_GetObject *) END_VAR ------------------------------------------------------------------------------------(* Function Block call for reading the software number of the attached EPOS (object: 0x2003-01 *) fbGetObject(Axis := myAxis, Execute := TRUE, Index := 16#2003, SubIndex := 16#01);

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5.2.8

MU_SetObject

Modifies the value of an EPOS object.

Figure 5-74

MU_SetObject

5.2.8.1
Variable Input/Output Name Axis Execute Input*I) Index SubIndex Value Done Output Error ErrorID

Variables
Data Type AXIS_REF BOOL UINT USINT UDINT BOOL BOOL DINT Value Default 0 FALSE 0 0 0 FALSE FALSE 0 031 TRUE, FALSE 065535 0255 04294967265 TRUE, FALSE TRUE, FALSE For codes page 8-90 Range Unit or Element [Type] AxisNo [USINT]

I)

A positive edge of Execute triggers a write operation of a specific EPOS object. Index and SubIndex define the object to be modified. MU_SetObject Variables

Table 5-55

5.2.8.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbSetObject : MU_SetObject; (* fbSetObject is instance of MU_SetObject *) END_VAR ------------------------------------------------------------------------------------(* Function Block call for writing the encoder pulse number of the attached EPOS (object: 0x2210-01 *) fbSetObject(Axis := myAxis, Execute := TRUE, Index := 16#2210, SubIndex := 16#01);

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5.2.9

MU_GetHomingParameter

Returns the values of the EPOS homing objects.

Figure 5-75

MU_GetHomingParameter

5.2.9.1
Variable Input/Output Input*I) Name Axis Enable Acceleration

Variables
Data Type AXIS_REF BOOL UDINT UINT BOOL BOOL DINT Value Default 0 FALSE 1000 500 FALSE FALSE 0 031 TRUE, FALSE 04294967295 0 and up (depending on hardware) TRUE, FALSE TRUE, FALSE For codes page 8-90 cNegLimitSwitchIndex = 1, cPosLimitSwitchIndex = 2, cHomeSwitchPosSpeedIndex = 7, cHomeSwitchNegSpeedIndex = 11, cNegLimitSwitch = 17, cPosLimitSwitch = 18, cHomeSwitchPosSpeed = 23, cHomeSwitchNegSpeed = 27, cIndexNegSpeed = 33, cIndexPosSpeed = 34, cActualPosition = 35, cCurThreshPosSpeedIndex = -1, cCurThreshNegSpeedIndex = -2, cCurThreshPosSpeed = -3, cCurThreshNegSpeed = -4 -2147483648 +2147483647 04294967295 04294967295 Range Unit or Element [Type] AxisNo [USINT] rpm/s mA

CurrentThreshold Done Error ErrorID

Output*O)

Method

SINT

Offset SpeedIndex SpeedSwitch

DINT UDINT UDINT

0 10 100

qc rpm rpm

I) O)

As long as Enable is TRUE (positive state), the values of the EPOS homing objects are will continuously be read. The values of the objects can be read from Method, Offset, SpeedSwitch, SpeedIndex, Acceleration and CurrentThreshold. MU_GetHomingParameter Variables

Table 5-56

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5.2.9.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbGetHomingParameter : MU_GetHomingParameter; (* fbGetHomingParameter is instance of MU_GetHomingParameter *) END_VAR ------------------------------------------------------------------------------------(* Function Block call for reading the homing parameter *) fbGetHomingParameter(Axis := myAxis, Enable := TRUE);

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5.2.10

MU_SetHomingParameter

Modifies the values of the EPOS homing objects.

Figure 5-76

MU_SetHomingParameter

5.2.10.1
Variable Input/Output Name Axis Acceleration

Variables
Data Type AXIS_REF UDINT UINT BOOL Value Default 0 1000 500 FALSE 031 04294967295 0 and up (depending on hardware) TRUE, FALSE cNegLimitSwitchIndex = 1, cPosLimitSwitchIndex = 2, cHomeSwitchPosSpeedIndex = 7, cHomeSwitchNegSpeedIndex = 11, cNegLimitSwitch = 17, cPosLimitSwitch = 18, cHomeSwitchPosSpeed = 23, cHomeSwitchNegSpeed = 27, cIndexNegSpeed = 33, cIndexPosSpeed = 34, cActualPosition = 35, cCurThreshPosSpeedIndex = -1, cCurThreshNegSpeedIndex = -2, cCurThreshPosSpeed = -3, cCurThreshNegSpeed = -4 -2147483648 +2147483647 04294967295 04294967295 TRUE, FALSE TRUE, FALSE For codes page 8-90 Range Unit or Element [Type] AxisNo [USINT] rpm/s mA

CurrentThreshold Execute

Method Input*I)

SINT

Offset SpeedIndex SpeedSwitch Done Output Error ErrorID

DINT UDINT UDINT BOOL BOOL DINT

0 10 100 FALSE FALSE 0

qc rpm rpm

I)

A positive edge of Execute triggers a write operation of the EPOS homing objects. Method, Offset, SpeedSwitch, SpeedIndex, Acceleration and CurrentThreshold contain the value of the parameters to be written. MU_SetHomingParameter Variables

Table 5-57

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5.2.10.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR myAxis : AXIS_REF := (AxisNo := 0); fbSetHomingParameter : MU_SetHomingParameter; (* fbSetHomingParameter is instance of MU_SetHomingParameter *) END_VAR ------------------------------------------------------------------------------------(* Function Block call for writing the homing parameter *) fbSetHomingParameter(Axis := myAxis, Execute := TRUE, Method :=11, Offset:= 200, SpeedSwitch := 150, SpeedIndex := 20, Acceleration := 2000, CurrentThreshold := 500);

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5.2.11

MU_Selection

Selects between two values.

Figure 5-77

MU_Selection

5.2.11.1
Variable Name In1 Value1 Input
*I)

Variables
Data Type BOOL DINT BOOL DINT BOOL DINT Value Default FALSE 0 FALSE 0 FALSE 0 TRUE, FALSE -2147483648 +2147483647 TRUE, FALSE -2147483648 +2147483647 TRUE, FALSE -2147483648 +2147483647 Range Unit or Element [Type] qc qc qc

In2 Value2 Out

Output*O)

ValueOut

I) O)

In1 selects Value1, In2 selects Value2. If In1 and In2 are TRUE, In1 is prioritized. Out indicates a valid value of ValueOut. MU_Selection Variables

Table 5-58

5.2.11.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR fbSelection : MU_Selection; (* fbSelection is instance of MU_Selection *) END_VAR ------------------------------------------------------------------------------------(* Function Block call for selecting Value1 input *) fbSelection(In1 := TRUE, Value1 := 2000, In2 := FALSE, Value2 := 1000);

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5.2.12

MU_GetBitState

Extracts the state of a specific bit.

Figure 5-78

MU_GetBitState

5.2.12.1
Variable Name BitNumber Execute Input*I) Value Done Output Error ErrorID State

Variables
Data Type USINT BOOL DINT BOOL BOOL DINT BOOL Value Default 0 FALSE 0 FALSE FALSE 0 FALSE 0255 TRUE, FALSE -2147483648 +2147483647 TRUE, FALSE TRUE, FALSE For codes page 8-90 TRUE, FALSE Range Unit or Element [Type] qc

I)

A positive edge of Execute triggers a read operation of the state of a specific bit within Value. BitNumber defines the bit to be read. MU_GetBitState Variables

Table 5-59

5.2.12.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR fbGetBitState : MU_GetBitState; (* fbGetBitState is instance of MU_GetBitState *) END_VAR ------------------------------------------------------------------------------------(* Function Block call for reading state of bit 2 of Value*) fbGetBitState(Execute := TRUE, Value := 2#10010000, BitNumber := 2); (* Return value of function block: State = 0*)

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5.2.13

MU_SetBitState

Modifies the state of a specific bit within a given value.

Figure 5-79

MU_SetBitState

5.2.13.1
Variable Input/Output
*I)

Variables
Data Type AXIS_REF USINT BOOL BOOL BOOL BOOL DINT Value Default 0 0 FALSE FALSE FALSE FALSE 0 031 0255 TRUE, FALSE TRUE, FALSE TRUE, FALSE TRUE, FALSE For codes page 8-90 Range Unit or Element [Type] AxisNo [USINT]

Name Axis BitNumber Execute State Done

Input

Output

Error ErrorID

I)

A positive edge of Execute triggers a read operation of the state of a specific bit within Value. BitNumber defines the bit to be written with the value in State. MU_SetBitState Variables

Table 5-60

5.2.13.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR fbSetBitState : MU_SetBitState; (* fbSetBitState is instance of MU_SetBitState *) END_VAR ------------------------------------------------------------------------------------(* Function Block call for writing bit 2 of Value with state = TRUE*) fbSetBitState(Execute := TRUE, Value := 2#10010000, BitNumber := 2, State := TRUE); (* Content of variable Value before Function Block call: 2#10010000*) (* Content of variable Value after Function Block call: 2#10010100*)

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5.3

CANopen DS-301 Function Blocks

5.3.1 CAN_Nmt

Permits change of network management state of a CANopen device.

Figure 5-80

CAN_Nmt

5.3.1.1
Variable Name Device Execute Port Input*I) State

Variables
Data Type USINT BOOL USINT Value Default 0 FALSE 0 0127 TRUE, FALSE 0 = internal port 1 = external port 1 = Start Remote Node 2 = Stop Remote Node 128 = Enter Pre-Operational 129 = Reset Node 130 = Reset Communication TRUE, FALSE TRUE, FALSE For codes page 8-90 Range Unit or Element [Type]

USINT

Done Output Error ErrorID

BOOL BOOL DINT

FALSE FALSE 0

I)

A positive edge of Execute triggers the NMT service operation. The network management state of the defined device is changed. Device corresponds to the CAN Node-ID. A Device value of 0 changes the NMT state of all devices in the network selected by the Port. Port distinguishes between internal and external CAN network. State is define by CANopen (CANopen specification). CAN_Nmt Variables

Table 5-61

5.3.1.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR fbNmt : CAN_Nmt; (* fbNmt is instance of CAN_Nmt *) END_VAR ------------------------------------------------------------------------------------(* Function Block call for starting all nodes *) fbNmt(Execute := TRUE, Device := 0, Port := 0, State := 1);

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5.3.2

CAN_SdoRead

Permits reading of a CANopen object using the SDO protocol.

Figure 5-81

CAN_SdoRead

Important! Execution of the instance might take longer than one PLC cycle (page 5-41).

5.3.2.1
Variable Name Device Enable Input*I) Port Index SubIndex Data Output Done Error ErrorID

Variables
Data Type USINT BOOL USINT UINT USINT UDINT BOOL BOOL DINT Value Default 0 FALSE 0 0 0 0 FALSE FALSE 0 0127 TRUE, FALSE 0 = internal port 1 = external port UINT USINT 04294967295 TRUE, FALSE TRUE, FALSE For codes page 8-90 Range Unit or Element [Type]

I)

As long as Enable is TRUE (positive state), the value of a specified CANopen object will continuously be read. The object is specified by Index and SubIndex. Device corresponds to the CAN Node-ID. Port distinguishes between internal and external CAN network. CAN_SdoRead Variables

Table 5-62

5.3.2.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR fbSdoRead : CAN_SdoRead; (* fbSdoRead is instance of CAN_SdoRead *) END_VAR ------------------------------------------------------------------------------------(* Function Block call for reading the CANopen object DeviceType *) fbSdoRead (Enable := TRUE, Device := 0, Port := 0, Index := 16#1000, Sub-index := 16#00);

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5.3.3

CAN_SdoWrite

Permits writing of a CANopen object using the SDO protocol.

Figure 5-82

CAN_SdoWrite

Important! Execution of the instance might take longer than one PLC cycle (page 5-41).

5.3.3.1
Variable Name Device Execute Input*I) Port Index SubIndex Data Done Output Error ErrorID

Variables
Data Type USINT BOOL USINT UINT USINT UDINT BOOL BOOL DINT Value Default 0 FALSE 0 0 0 0 FALSE FALSE 0 0127 TRUE, FALSE 0 = internal port 1 = external port UINT USINT UDINT TRUE, FALSE TRUE, FALSE For codes page 8-90 Range Unit or Element [Type]

I)

A positive edge of Execute triggers the write operation of a CANopen object. The object is specified by Index and SubIndex. Device corresponds to the CAN Node-ID. Port distinguishes between internal and external CAN network. CAN_SdoWrite Variables

Table 5-63

5.3.3.2

Call

------------------------------------------------------------------------------------(* Variable Declaration *) VAR fbSdoWrite : CAN_SdoWrite; (* fbSdoWrite is instance of CAN_SdoWrite *) END_VAR ------------------------------------------------------------------------------------(* Function Block call for writing the CANopen object GuardTime *) fbSdoWrite (Execute := TRUE, Device := 0, Port := 0, Index := 16#100C, Sub-index := 16#00, Data := 100);

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Markers
Markers are typically used to build intermediate results. They will be buffered in the PLC and do not have direct influence to the outputs. By using markers, extensive operations can be essentially simplified. Further, they act as transmitter between different modules. EPOS P and MCD EPOS P are using specific marker areas for error and warning information.

6.1

User Marker Area

Length is 25 entries (32-bit values), write or read are supported. To access a marker variable, IEC 61131 direct addressing method is used. IEC 61131 declaration example with UDINT variables:
UserMarkerVariable0 UserMarkerVariable1 UserMarkerVariable2 UserMarkerVariable3 UserMarkerVariable4 UserMarkerVariable5 UserMarkerVariable6 UserMarkerVariable7 UserMarkerVariable8 UserMarkerVariable9 UserMarkerVariable10 UserMarkerVariable11 UserMarkerVariable12 UserMarkerVariable13 UserMarkerVariable14 UserMarkerVariable15 UserMarkerVariable16 UserMarkerVariable17 UserMarkerVariable18 UserMarkerVariable19 UserMarkerVariable20 UserMarkerVariable21 UserMarkerVariable22 UserMarkerVariable23 UserMarkerVariable24 AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT %MD0.0 : UDINT; %MD4.0 : UDINT; %MD8.0 : UDINT; %MD12.0 :UDINT; %MD16.0 : UDINT; %MD20.0 : UDINT; %MD24.0 : UDINT; %MD28.0 : UDINT; %MD32.0 : UDINT; %MD36.0 : UDINT; %MD40.0 : UDINT; %MD44.0 : UDINT; %MD48.0 : UDINT; %MD52.0 : UDINT; %MD56.0 : UDINT; %MD60.0 : UDINT; %MD64.0 : UDINT; %MD68.0 : UDINT; %MD72.0 : UDINT; %MD76.0 : UDINT; %MD80.0 : UDINT; %MD84.0 : UDINT; %MD88.0 : UDINT; %MD92.0 : UDINT; %MD96.0 : UDINT;

Table 6-64

User Marker Variables Examples

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6.2

Marker Global Status Register

Length is 25 entries (32-bit values), write or read are supported. It holds the EPOS P global status register and is identical to the EPOS P CANopen object 0x1002. Bit 0 to Bit 7 represent an overview of the CANopen slave error registers. If a connected CANopen slaves reports an error register flag, the according bit will be set. For the meaning of CANopen error register, please refer to the connected CANopen slaves object description (object error register with index 0x1001 and subindex 0).
Bit 0 1 2 3 4 5 6 7 815 16 1719 20 2122 23 2431 Description One of the connected slaves is signalling a generic error bit in error register One of the connected slaves is signalling a current error bit in error register One of the connected slaves is signalling a voltage error bit in error register One of the connected slaves is signalling a temperature error bit in error register One of the connected slaves is signalling a communication error bit in error register One of the connected slaves is signalling a device profile specific error bit in error register Reserved One of the connected slaves is signalling a manufacturer specific error bit in error register Copy of error register Master generic warning Not used Master communication warning Not used Master manufacturer specific warning Not used

Table 6-65

Global Status Register Markers

IEC 61131 declaration example with BOOL variables:

ERR_mEposGenericError ERR_mEposCurrentError ERR_mEposVoltageError ERR_mEposTemperatureError ERR_mEposCommunicationError ERR_mEposMotionError AT AT AT AT AT AT %M100.0 : BOOL; %M100.1 : BOOL; %M100.2 : BOOL; %M100.3 : BOOL; %M100.4 : BOOL; %M100.7 : BOOL;

Table 6-66

Global Status Register Markers Examples

6.3

Marker Global Axis Error Register

Length is 32-bit. It holds the EPOS P global status register and is identical to the EPOS P CANopen object 0x1002. Bit 0 to Bit 7 represents an overview of the CANopen slave error registers. If one of the connected CANopen slave reports an error register flag, the according bit is set. For the meaning of CANopen error register please refer to the object description of the connected CANopen slave (object error register with index 0x1001 and subindex 0).
Bit 0 1 2 Description Axis 0 is in error state Axis 1 is in error state Axis 2 is in error state

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Bit n 31

Description Axis n is in error state Axis 31 is in error state

Table 6-67

Global Axis Error Register Markers

IEC 61131 declaration example with BOOL variables:

ERR_mAxis0Error ERR_mAxis1Error ERR_mAxis2Error ERR_mAxis3Error ERR_mAxis4Error ERR_mAxis5Error ERR_mAxis6Error ERR_mAxis7Error ERR_mAxis8Error ERR_mAxis9Error ERR_mAxis10Error ERR_mAxis11Error ERR_mAxis12Error ERR_mAxis13Error ERR_mAxis14Error ERR_mAxis15Error ERR_mAxis16Error ERR_mAxis17Error ERR_mAxis18Error ERR_mAxis19Error ERR_mAxis20Error ERR_mAxis21Error ERR_mAxis22Error ERR_mAxis23Error ERR_mAxis24Error ERR_mAxis25Error ERR_mAxis26Error ERR_mAxis27Error ERR_mAxis28Error ERR_mAxis29Error ERR_mAxis30Error ERR_mAxis31Error AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT AT %M104.0 : BOOL; %M104.1 : BOOL; %M104.2 : BOOL; %M104.3 : BOOL; %M104.4 : BOOL; %M104.5 : BOOL; %M104.6 : BOOL; %M104.7 : BOOL; %M105.0 : BOOL; %M105.1 : BOOL; %M105.2 : BOOL; %M105.3 : BOOL; %M105.4 : BOOL; %M105.5 : BOOL; %M105.6 : BOOL; %M105.7 : BOOL; %M106.0 : BOOL; %M106.1 : BOOL; %M106.2 : BOOL; %M106.3 : BOOL; %M106.4 : BOOL; %M106.5 : BOOL; %M106.6 : BOOL; %M106.7 : BOOL; %M107.0 : BOOL; %M107.1 : BOOL; %M107.2 : BOOL; %M107.3 : BOOL; %M107.4 : BOOL; %M107.5 : BOOL; %M107.6 : BOOL; %M107.7 : BOOL;

Table 6-68

Global Axis Error Register Markers Examples

6.4

Reserved Marker Area

Length is 23 entries (32-bit values). Reserved for future use.

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6.5

CANopen Slave Error Register Area

Length is 128 entries (8-bit values). It represents the CANopen error register of the connected slave. For the meaning of CANopen error register please refer to the object description of the connected CANopen slave (error register with index 0x1001 and subindex 0). IEC 61131 declaration example with USINT variables:
ERR_mErrorRegisterInternalEPOS ERR_mErrorRegisterCANopenSlave1 ERR_mErrorRegisterCANopenSlave2 ERR_mErrorRegisterCANopenSlave127 AT AT AT AT AT %MB200.0 : USINT; %MB201.0 : USINT; %MB202.0 : USINT; %MB327.0 : USINT;

Table 6-69

CANopen Slave Error Register Markers Examples 1

IEC 61131 declaration example with BOOL variables for EPOS slaves (sample internal EPOS):
ERR_mInternalEposGenericError ERR_mInternalEposCurrentError ERR_mInternalEposVoltageError ERR_mInternalEposTemperatureError ERR_mInternalEposCommunicationError AT AT AT AT AT %M200.0 : BOOL; %M200.1 : BOOL; %M200.2 : BOOL; %M200.3 : BOOL; %M200.4 : BOOL;

Table 6-70

CANopen Slave Error Register Markers Examples 2

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Process I/Os
Process inputs and outputs are used to read incoming or write outgoing CANopen PDOs. Nevertheless, before this communication method can be used, PDO configuration will be required. For details chapter 4.3 Network Configuration on page 4-25. Best Practice Use PDO communication for powerful and easy data exchange to read/write direct addressed variables. Use the Network Configuration Tool to setup PDO communication and to employ Functional Blocks (chapter 5 Function Blocks on page 5-41).

The Process Inputs Area provides 6 declaration types of 16 values with a length of 8-bit each. The variable holds the same value as the related CANopen object dictionary entry with its respective index. The following tables list the editable items that compose to the PDOs. Each table comes along with an example showing a variable containing colored marks on where to find respective elements and content.

7.1
InVar/ Subindex

Process Inputs
Example: InVar1 AT %IB0.0 : SINT; (*Object Index 0xA000, Subindex 1*)
SINT Decl. IB0.0 IB1.0 IB2.0 IB3.0 IB4.0 IB5.0 IB6.0 IB7.0 IB8.0 IB9.0 IB10.0 IB11.0 IB12.0 IB13.0 IB14.0 IB15.0 Index 0xA000 0xA000 0xA000 0xA000 0xA000 0xA000 0xA000 0xA000 0xA000 0xA000 0xA000 0xA000 0xA000 0xA000 0xA000 0xA000 USINT Decl. IB16.0 IB17.0 IB18.0 IB19.0 IB20.0 IB21.0 IB22.0 IB23.0 IB24.0 IB25.0 IB26.0 IB27.0 IB28.0 IB29.0 IB31.0 IB31.0 Index 0xA040 0xA040 0xA040 0xA040 0xA040 0xA040 0xA040 0xA040 0xA040 0xA040 0xA040 0xA040 0xA040 0xA040 0xA040 0xA040 Decl. IW32.0 IW34.0 IW36.0 IW38.0 IW40.0 IW42.0 IW44.0 IW46.0 IW48.0 IW50.0 IW52.0 IW54.0 IW56.0 IW58.0 IW60.0 IW62.0 INT Index 0xA0C0 0xA0C0 0xA0C0 0xA0C0 0xA0C0 0xA0C0 0xA0C0 0xA0C0 0xA0C0 0xA0C0 0xA0C0 0xA0C0 0xA0C0 0xA0C0 0xA0C0 0xA0C0 UINT Decl. IW64.0 IW66.0 IW68.0 IW70.0 IW72.0 IW74.0 IW76.0 IW78.0 IW80.0 IW82.0 IW84.0 IW86.0 IW88.0 IW90.0 IW92.0 IW94.0 Index 0xA100 0xA100 0xA100 0xA100 0xA100 0xA100 0xA100 0xA100 0xA100 0xA100 0xA100 0xA100 0xA100 0xA100 0xA100 0xA100 Decl. ID96.0 ID100.0 ID104.0 ID108.0 ID112.0 ID116.0 ID120.0 ID124.0 ID128.0 ID132.0 ID136.0 ID140.0 ID144.0 ID148.0 ID152.0 ID156.0 DINT Index 0xA1C0 0xA1C0 0xA1C0 0xA1C0 0xA1C0 0xA1C0 0xA1C0 0xA1C0 0xA1C0 0xA1C0 0xA1C0 0xA1C0 0xA1C0 0xA1C0 0xA1C0 0xA1C0 UDINT Decl. ID160.0 ID164.0 ID168.0 ID172.0 ID174.0 ID180.0 ID184.0 ID188.0 ID192.0 ID196.0 ID200.0 ID204.0 ID208.0 ID212.0 ID216.0 ID220.0 Index 0xA200 0xA200 0xA200 0xA200 0xA200 0xA200 0xA200 0xA200 0xA200 0xA200 0xA200 0xA200 0xA200 0xA200 0xA200 0xA200

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

Table 7-71

Process Inputs IEC 61131 Declaration Examples with Variables

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7.2
OutVar/ Subindex

Process Outputs
Example: OutVar16 AT %QD220.0 : UDINT; (*Object Index 0xA680, Subindex 16*)
SINT Decl. QB0.0 QB1.0 QB2.0 QB3.0 QB4.0 QB5.0 QB6.0 QB7.0 QB8.0 QB9.0 QB10.0 QB11.0 QB12.0 QB13.0 QB14.0 QB15.0 Index 0xA480 0xA480 0xA480 0xA480 0xA480 0xA480 0xA480 0xA480 0xA480 0xA480 0xA480 0xA480 0xA480 0xA480 0xA480 0xA480 USINT Decl. QB16.0 QB17.0 QB18.0 QB19.0 QB20.0 QB21.0 QB22.0 QB23.0 QB24.0 QB25.0 QB26.0 QB27.0 QB28.0 QB29.0 QB31.0 QB31.0 Index 0xA4C0 0xA4C0 0xA4C0 0xA4C0 0xA4C0 0xA4C0 0xA4C0 0xA4C0 0xA4C0 0xA4C0 0xA4C0 0xA4C0 0xA4C0 0xA4C0 0xA4C0 0xA4C0 Decl. QW32.0 QW34.0 QW36.0 QW38.0 QW40.0 QW42.0 QW44.0 QW46.0 QW48.0 QW50.0 QW52.0 QW54.0 QW56.0 QW58.0 QW60.0 QW62.0 INT Index 0xA540 0xA540 0xA540 0xA540 0xA540 0xA540 0xA540 0xA540 0xA540 0xA540 0xA540 0xA540 0xA540 0xA540 0xA540 0xA540 Decl. QW64.0 QW66.0 QW68.0 QW70.0 QW72.0 QW74.0 QW76.0 QW78.0 QW80.0 QW82.0 QW84.0 QW86.0 QW88.0 QW90.0 QW92.0 QW94.0 UINT Index 0xA580 0xA580 0xA580 0xA580 0xA580 0xA580 0xA580 0xA580 0xA580 0xA580 0xA580 0xA580 0xA580 0xA580 0xA580 0xA580 DINT Decl. QD96.0 QD100.0 QD104.0 QD108.0 QD112.0 QD116.0 QD120.0 QD124.0 QD128.0 QD132.0 QD136.0 QD140.0 QD144.0 QD148.0 QD152.0 QD156.0 Index 0xA640 0xA640 0xA640 0xA640 0xA640 0xA640 0xA640 0xA640 0xA640 0xA640 0xA640 0xA640 0xA640 0xA640 0xA640 0xA640 UDINT Decl. QD160.0 QD164.0 QD168.0 QD172.0 QD174.0 QD180.0 QD184.0 QD188.0 QD192.0 QD196.0 QD200.0 QD204.0 QD208.0 QD212.0 QD216.0 QD220.0 Index 0xA680 0xA680 0xA680 0xA680 0xA680 0xA680 0xA680 0xA680 0xA680 0xA680 0xA680 0xA680 0xA680 0xA680 0xA680 0xA680

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

Table 7-72

Process Outputs IEC 61131 Declaration Examples with Variables

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8
8.1

Error Handling
Programming Environment Error Codes
Programming environment errors (which also include warnings) will be displayed in a popup window, provided that the programming tool is active. They will have the following effects: An error will stop the application program. A warning will only be signalled, but does not stop the application program. Comment Program is to big try with size only

Error Code 1002 1004 1005 1006 1008 1009 1011 1012 1013 1014 1015 1016 1018 1020 1021 1900 1901 1903 1904 1905 1908 1909 1911 2001 2002 2003 2004

Description Out of program memory Program execution not possible No valid program Download of invalid data Configuration error / wrong program Invalid program number Invalid segment number Segment already on PLC No free watch ID available Invalid command received Action not valid. Switch to maintenance first General network error Accepted receipt too small Timer task error Error calling kernel Error calling native code Retain variable handling failed NMT boot up error, check CAN configuration One or more slave configuration wrong Problem with persistence memory CAN communication error System was reset by watchdog Interrupt Task error Execution error: data or program exception RUN TIME ERROR: division by zero RUN TIME ERROR: invalid array index RUN TIME ERROR: invalid opcode RUN TIME ERROR: opcode not supported

Download incomplete / logical error

Watch table is already full

Operation not allowed in current mode Communication error on service interface Communication error on service interface Previous timer task processing was not already finished Error at call of interpreter Error at execution of native code Too many retain variables or hardware error See EPOS P error history for details Configuration date or time does not match Warning only See EPOS P error history for details Warning only*1) Previous interrupt processing was not already finished Fatal application processing error

Unsupported command Unsupported command

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Error Code 2005 2006 2008 2009 2010 2011 2012

Description RUN TIME ERROR: invalid extension RUN TIME ERROR: unknown command Invalid bit reference Error restoring data Invalid array element size Invalid struct size RUN TIME ERROR: modulo zero, result undefined Remark

Comment Unsupported command Unsupported command Runtime error Runtime error Runtime error Runtime error

1) EPOS Studio uses a watchdog reset also for resetting the Node. Therefore, this warning may also be triggered when EPOS Studio manipulates the EPOS P. Table 8-73 Error Codes Programming Environment

8.2

Motion Control Function Blocks Error Codes

Motion control function blocks can return internal error codes as well as error codes such as e.g. communication aborted of the accessed slaves.

Error Code 0x0000 0000 0x0000 0001 || 0x0F00 FFC0 0x0FFF FFF0 0x0FFF FFF1 0x0FFF FFF2 0x0FFF FFF9 0x0FFF FFFA 0x0FFF FFFB 0x0FFF FFFC 0x0FFF FFFD 0x0FFF FFFE 0x0FFF FFFF

Description No error Internal function block sequence error Communication abort codes of the connected slave are inserted here (related to DS-301, DSP402, etc). The device is in wrong NMT state CAN communication sequence error Communication aborted by CAN driver Communication buffer overflow Segmented transfer communication error Wrong axis number Wrong device number Wrong CAN port Bad function calling parameters General CAN communication error CAN communication time out Table 8-74

Comment

Refer to the Firmware Specification of the EPOS

Not in range of 031 Not in range of 1127 Not 1 or 2

Error Codes Motion Control Function Blocks

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9
9.1

Example Projects
HelloWorld
Project HelloWorld This example project provides a simple way to get used with the programming environment. Neither motion control functionality is used, nor must a motor be connected. The program may be used to Used Languages Task Files learn the handling of the programming environment and to check the online connection to the EPOS P.

Description

Structured Text Timer Task (10 ms) Project file Main program Additional information HelloWorld.VAR Counter.ST ReadMe.TXT

Table 9-75

HelloWorld in Brief

Table 9-76

HelloWorld Project Screen

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9.2

SimpleMotionSequence
Project SimpleMotionSequence The example consists of two state machines: Description The first implements the application process. The second implements error handling.

The main state machine moves between two positions. For details separate document SimpleMotionSequence.pdf. Used Languages Task Files SFC (Sequential Function Chart) FBD (Function Block Diagram) Cyclic Project file Main program Additional information SimpleMotionSequence.VAR PROG_Main.SFC PROG_ErrorHandling.SFC

Table 9-77

SimpleMotionSequence in Brief

Table 9-78

SimpleMotionSequence Project Screen

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9.3

Best Practice Program Examples

The example collection (available for IEC 611131-3 editors SFC, FBD and ST) shows individual aspects of EPOS P programming. These examples may be part of a complete application, but they focus on single tasks during application programming.

Example

Description The example shows how to implement a state machine the basis and starting point of every EPOS P program including states and transitions. This implementation is the framework for all other examples. For details separate document StateMachineProject.pdf. The example demonstrates the usage of the error handling state machine. The state machine detects axis-related errors, communication errors and gathers error information on the individual error sources. The error information is shown in separate variables on the debug screen. For details separate document ErrorHandlingProject.pdf. The example demonstrates how to read digital and analog inputs and how to write digital outputs. For details separate document InputOutputHandlingProject.pdf. The example demonstrates how to configure, start and stop a homing procedure. For details separate document HomingProject.pdf. The example demonstrates how to execute positioning operations. Presented are three different kinds: two sequential relative positioning an interrupted positioning stopping relative positioning

State Machine

Error Handling

Input Output Handling Homing

Positioning

For details separate document PositioningProject.pdf. The example demonstrates how to execute continuous motions. Presented are three different kinds: Continuous Motion two sequential continuous motions an interrupted continuous motion stopping the continuous motion

For details separate document ContinuousMotionProject.pdf. Actual Value Reading Object Dictionary Access Data Handling The example demonstrates how to read the actual position, the actual velocity and the actual current of the EPOS. For details separate document ActualValueReadingProject.pdf. The example shows how to read or write an object from the object dictionary. For details separate document ObjectDictAccessProject.pdf. The example demonstrates how to process data. The example is used to read and write bits and to convert data types. For details separate document DataHandlingProject.pdf. Table 9-79 Best Practice Program Examples

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9.4

Application Program Examples

The example collection shows complete applications of EPOS P programming. These examples may consist of some best practice examples.

Example Cyclic Motion

Description The example demonstrates typical motion sequences with one axis. It features homing, continuous motion and positioning. For details separate document CyclicMotionProject.pdf. The example demonstrates I/O triggered motions with one axis. For details separate document IO_ModeProject.pdf. The example demonstrates how to implement coordinated motions with two axes. For details separate document MultiaxisMotionProject.pdf. Table 9-80 Application Program Examples

I/O Mode Multi-Axis Motion

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LIST OF FIGURES
Figure 2-1 Figure 3-2 Figure 3-3 Figure 3-4 Figure 3-5 Figure 3-6 Figure 3-7 Figure 3-8 Figure 3-9 Figure 3-10 Figure 3-11 Figure 3-12 Figure 3-13 Figure 3-14 Figure 3-15 Figure 3-16 Figure 3-17 Figure 3-18 Figure 3-19 Figure 3-20 Figure 3-21 Figure 3-22 Figure 3-23 Figure 4-24 Figure 4-25 Figure 4-26 Figure 4-27 Figure 4-28 Figure 4-29 Figure 4-30 Figure 4-31 Figure 4-32 Figure 4-33 Figure 4-34 Figure 4-35 Figure 4-36 Figure 4-37 Figure 4-38 Figure 4-39 Figure 4-40 Figure 4-41 Figure 4-42 Documentation Structure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9 Page Navigator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11 EC 61131 Programming Window- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11 OpenPCS License Registration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12 Connection Setup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13 Edit Connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13 Select Driver - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13 Connection Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14 Connection Entry ProxyEpos - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14 Create New Project - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 16 Edit Resource Specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 16 Create Program File- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 17 Add to active Resource - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 17 Task Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 17 Project HelloWorld - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 18 Variable Declaration- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 18 Program Code - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 18 Output Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 18 Download new Code - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 19 Cold Start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 19 Test And Commissioning Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 19 Adding a Breakpoint- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 19 Continue Program Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 20 Resource Pane - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 21 Resource Specifications Window- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 21 Task Type Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 22 Edit Task Specification Optimization - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 23 Edit Task Specification Interrupt - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 24 Network Configuration Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 25 Configuration View Master - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 26 Configuration View SYNC Master - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 26 Network Info - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 28 Cycle Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 29 Configuration View Heartbeat Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 29 Configuration View Slave - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 30 Tab Network Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 31 Add Network Variable- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 32 Edit PDO Links - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 32 Lock/unlock PDOs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 33 Reset PDOs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 34 Declaration of Network Variables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 35 Configuration View Heartbeat Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 35

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Figure 4-43 Figure 4-44 Figure 4-45 Figure 4-46 Figure 4-47 Figure 5-48 Figure 5-49 Figure 5-50 Figure 5-51 Figure 5-52 Figure 5-53 Figure 5-54 Figure 5-55 Figure 5-56 Figure 5-57 Figure 5-58 Figure 5-59 Figure 5-60 Figure 5-61 Figure 5-62 Figure 5-63 Figure 5-64 Figure 5-65 Figure 5-66 Figure 5-67 Figure 5-68 Figure 5-69 Figure 5-70 Figure 5-71 Figure 5-72 Figure 5-73 Figure 5-74 Figure 5-75 Figure 5-76 Figure 5-77 Figure 5-78 Figure 5-79 Figure 5-80 Figure 5-81 Figure 5-82

Configuration View Bootup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 36 Output Network Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 39 Input Network Variables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 39 Network Variable File - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 40 Project Browser in Programming Tool - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 40 MC_Power - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 42 MC_Reset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 43 MC_ReadStatus - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 44 MC_ReadStatus States - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 45 MC_MoveAbsolute - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 46 MC_MoveAbsolute Sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 47 MC_MoveRelative- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 48 MC_MoveRelative Sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 49 MC_MoveVelocity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 50 MC_MoveVelocity Sequence- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 51 MC_Home - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 52 MC_Stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 54 MC_ReadParameter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 55 MC_ReadBoolParameter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 57 MC_WriteParameter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 58 MC_ReadActualPosition - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 60 MC_ReadActualVelocity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 61 MC_ReadActualCurrent- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 62 MC_ReadAxisError - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 63 MU_GetAllDigitalInputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 64 MU_GetDigitalInput - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 66 MU_GetAnalogInput - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 67 MU_SetAllDigitalOutputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 68 MU_GetDeviceErrorCount - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 69 MU_GetDeviceError - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 70 MU_GetObject - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 71 MU_SetObject - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 72 MU_GetHomingParameter- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 73 MU_SetHomingParameter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 75 MU_Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 77 MU_GetBitState - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 78 MU_SetBitState - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 79 CAN_Nmt- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 80 CAN_SdoRead - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 81 CAN_SdoWrite - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 82

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LIST OF TABLES
Table 1-1 Table 1-2 Table 1-3 Table 3-4 Table 4-5 Table 4-6 Table 4-7 Table 4-8 Table 4-9 Table 4-10 Table 4-11 Table 4-12 Table 4-13 Table 4-14 Table 4-15 Table 4-16 Table 4-17 Table 4-18 Table 4-19 Table 4-20 Table 4-21 Table 4-22 Table 4-23 Table 4-24 Table 4-25 Table 4-26 Table 4-27 Table 4-28 Table 4-29 Table 4-30 Table 4-31 Table 4-32 Table 5-33 Table 5-34 Table 5-35 Table 5-36 Table 5-37 Table 5-38 Table 5-39 Table 5-40 Table 5-41 Table 5-42 Notations used in this Document - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5 Brand Names and Trademark Owners - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7 Sources for additional Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8 EC 61131 Programming Window Commands and their Effect - - - - - - - - - - - - - - - - - 11 Resource Specifications Window Control Elements - - - - - - - - - - - - - - - - - - - - - - - - 22 Task Type Window Control Elements - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 22 Edit Task Specification Control Elements - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 23 Edit Task Specification Control Elements - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 24 Network Configuration Overview Control Elements- - - - - - - - - - - - - - - - - - - - - - - - - 25 Network Configuration Overview Status & Icons- - - - - - - - - - - - - - - - - - - - - - - - - - - 25 Configuration View Master Options and Defaults - - - - - - - - - - - - - - - - - - - - - - - - - 26 Configuration View SYNC Master Options and Defaults - - - - - - - - - - - - - - - - - - - - 27 Configuration View SYNC Master Calculations - - - - - - - - - - - - - - - - - - - - - - - - - - 27 Configuration View SYNC Master Best Practice- - - - - - - - - - - - - - - - - - - - - - - - - - 27 Network Info Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 28 Network Info Table Columns - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 28 Configuration View Heartbeat Control Options and Defaults Producer - - - - - - - - - - 29 Configuration View Heartbeat Control Options and Defaults Consumer - - - - - - - - - 30 Configuration View Slave Options and Defaults - - - - - - - - - - - - - - - - - - - - - - - - - - 30 Network Variables: EPOS P [Node 1] to EPOS [Internal] - - - - - - - - - - - - - - - - - - - - - - 31 Network Variables: EPOS P [Node 1] from EPOS [Internal] - - - - - - - - - - - - - - - - - - - - 31 Add Network Variable Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 32 Edit PDO Links Communication Parameter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 33 Edit PDO Links PDO Link - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 33 Edit PDO Links Mapped Objects- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 33 Lock or Unlock PDOs Icons - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 34 Reset PDOs Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 34 Configuration View Heartbeat Control Options and Defaults Producer - - - - - - - - - - 35 Configuration View Heartbeat Control Options and Defaults Consumer - - - - - - - - - 36 Configuration View Bootup Options and Defaults Consumer - - - - - - - - - - - - - - - - - 36 Motion Control Function Block: Configuration of Axis Number - - - - - - - - - - - - - - - - - - 38 CANopen DS-301 Function Block: Configuration of Node ID - - - - - - - - - - - - - - - - - - - 38 MC_Power Variables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 42 MC_Reset Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 43 MC_ReadStatus Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 44 MC_MoveAbsolute Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 46 MC_MoveRelative Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 48 MC_MoveVelocity Variables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 50 MC_Home Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 52 MC_Stop Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 54 MC_ReadParameter Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 55 MC_ReadBoolParameter Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 57

maxon motor control EPOS P Programmable Positioning Controller EPOS P Programming Reference

Document ID: 786 912-07 V1 en Edition: January 2010

2010 maxon motor. Subject to change without prior notice.

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Table 5-43 Table 5-44 Table 5-45 Table 5-46 Table 5-47 Table 5-48 Table 5-49 Table 5-50 Table 5-51 Table 5-52 Table 5-53 Table 5-54 Table 5-55 Table 5-56 Table 5-57 Table 5-58 Table 5-59 Table 5-60 Table 5-61 Table 5-62 Table 5-63 Table 6-64 Table 6-65 Table 6-66 Table 6-67 Table 6-68 Table 6-69 Table 6-70 Table 7-71 Table 7-72 Table 8-73 Table 8-74 Table 9-75 Table 9-76 Table 9-77 Table 9-78 Table 9-79 Table 9-80

MC_WriteParameter Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 58 MC_ReadActualPosition Variables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 60 MC_ReadActualVelocity Variables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 61 MC_ReadActualCurrent Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 62 MC_ReadAxisError Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 63 MU_GetAllDigitalInputs Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 64 MU_GetDigitalInput Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 66 MU_GetAnalogInput Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 67 MU_SetAllDigitalOutputs Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 68 MU_GetDeviceErrorCount Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 69 MU_GetDeviceError Variables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 70 MU_GetObject Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 71 MU_SetObject Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 72 MU_GetHomingParameter Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 73 MU_SetHomingParameter Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 75 MU_Selection Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 77 MU_GetBitState Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 78 MU_SetBitState Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 79 CAN_Nmt Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 80 CAN_SdoRead Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 81 CAN_SdoWrite Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 82 User Marker Variables Examples- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 83 Global Status Register Markers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 84 Global Status Register Markers Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 84 Global Axis Error Register Markers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 85 Global Axis Error Register Markers Examples- - - - - - - - - - - - - - - - - - - - - - - - - - - - 85 CANopen Slave Error Register Markers Examples 1 - - - - - - - - - - - - - - - - - - - - - - - 86 CANopen Slave Error Register Markers Examples 2 - - - - - - - - - - - - - - - - - - - - - - - 86 Process Inputs IEC 61131 Declaration Examples with Variables- - - - - - - - - - - - - - - 87 Process Outputs IEC 61131 Declaration Examples with Variables - - - - - - - - - - - - - 88 Error Codes Programming Environment - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 90 Error Codes Motion Control Function Blocks- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 90 HelloWorld in Brief- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 91 HelloWorld Project Screen- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 91 SimpleMotionSequence in Brief - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 92 SimpleMotionSequence Project Screen - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 92 Best Practice Program Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 93 Application Program Examples- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 94

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maxon motor control EPOS P Programmable Positioning Controller EPOS P Programming Reference

INDEX
find OpenPCS license key 12 find serial number and license key of OpenPCS Programming Tool 12 get used with the programming environment 91 interpret icons (and signs) used in the document 6 read this document 2 set resource properties 21 set task properties 22

A
additionally applicable regulations 10 alerts 6 applicable EU directive 2, 9 application examples 94

B
baud rate 13 Best Practice (Program Examples) 93 bitrate (maximum permitted) 27

I
incorporation into surrounding system 2, 9 informatory signs 7 InVar 87

C
CAN (CANopen DS-301 Function Blocks) 80 CAN_Nmt 80 CAN_SdoRead 81 CAN_SdoWrite 82 configuration OpenPCS license key 12 master 26 network 37 slave 30 country-specific regulations 10

M
mandatory action signs 6 Marker ERR_mAxis 84 ERR_mEpos 84 ERR_mErrorRegister 86 ERR_mInternalEpos 86 UserMarkerVariable 83 MC (Motion Control Function Blocks) 42 MC_Home 52 MC_MoveAbsolute 46 MC_MoveRelative 48 MC_MoveVelocity 50 MC_Power 42 MC_ReadActualCurrent 62 MC_ReadActualPosition 60 MC_ReadActualVelocity 61 MC_ReadAxisError 63 MC_ReadBoolParameter 57 MC_ReadParameter 55 MC_ReadStatus 44 MC_Reset 43 MC_Stop 54 MC_WriteParameter 58 MU (Maxon Utility Function Blocks) 64 MU_GetAllDigitalInputs 64 MU_GetAnalogInput 67 MU_GetBitState 78 MU_GetDeviceError 70 MU_GetDeviceErrorCount 69 MU_GetDigitalInput 66 MU_GetHomingParameter 73 MU_GetObject 71 MU_Selection 77 MU_SetAllDigitalOutputs 68 MU_SetBitState 79 MU_SetHomingParameter 75 MU_SetObject 72

D
declaration types 87

E
edit resource specification 16 Error Codes motion control function blocks 90 programming environment 89 ESD 10 EU directive, applicable 2, 9

F
Function Blocks CANopen DS-301 80 Maxon Utility 64 Motion Control 42

G
generally applicable parameters for Function Blocks 41 generally applicable rules for Function Blocks 41

H
how to build intermediate results 83 check online connection 91 configure the network 25 create a new project 16 enter program code 17

maxon motor control EPOS P Programmable Positioning Controller EPOS P Programming Reference

Document ID: 786 912-07 V1 en Edition: January 2010

2010 maxon motor. Subject to change without prior notice.

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N
network length 27 network variables 31 non-compliance of surrounding system 2

O
OpenPCS Programming Tool 11 operating license 2, 9 other machinery (incorporation into) 2, 9 OutVar 88

P
parameters, generally applicable 41 precautions 10 prerequisites prior installation 2, 9 process inputs 87 process outputs 87 programming examples 93 programming with OpenPCS 12 prohibitive signs 6 purpose of this document 5

R
regulations, additionally applicable 10 resource definition 21 rules, generally applicable 41

S
safety alerts 6 safety first! 10 signs informative 7 mandatory 6 prohibitive 6 signs used 6 surrounding system (incorporation into) 2 symbols used 6

T
task 22

V
variables for Process Inputs 87 variables for Process Outputs 88 view resource specification 16

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 2010 maxon motor. All rights reserved. The present document including all parts thereof is protected by copyright. Any use (including reproduction, translation, microfilming and other means of electronic data processing) beyond the narrow restrictions of the copyright law without the prior approval of maxon motor ag, is not permitted and subject to persecution under the applicable law. maxon motor ag Brnigstrasse 220 P.O.Box 263 CH-6072 Sachseln Switzerland Phone +41 (41) 666 15 00 Fax +41 (41) 666 15 50 www.maxonmotor.com

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Document ID: 786 912-07 V1 en Edition: January 2010

2010 maxon motor. Subject to change without prior notice.

maxon motor control EPOS P Programmable Positioning Controller EPOS P Programming Reference