Modicon Premium PLCs TSX CCY 1128

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Modicon Premium PLCs TSX CCY 1128

Quick reference guide

Edition June 2009 Electronic Cam Module

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TSX CCY 1128 module

TSX CCY 1128 module using PL7

Module Status Objects 3

%KWxy Module Configuration Constants 4

%KWxy Group Configuration Constants 9

Adjustment of the Measurement Function via Explicit Com-

mands 10

Track Adjustment via Explicit Commands 11 Cam Adjustment via Explicit Commands 12 Implicit Commands: Global %Q Commands 14 Implicit Commands: Commands on %QW Groups 16 Implicit Commands: Periodic Inputs: %I 17

Implicit Commands: Periodic Inputs: %IW 18

TSX CCY 1128 module using Unity Pro

T_GEN_MODE type language objects of the IODDDT 21 T_CCY_GROUP0 implicit exchange type objects of the IODDT 22

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T_CCY_GROUP0 type explicit exchange objects of the IODDT 28

T_CCY_GROUP1_2_3 type implicit exchange objects

of the IODDT 38

T_CCY_GROUP1_2_3 type explicit exchange objects

of the IODDT 39

Configuration constants 40

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TSX CCY 1128 Module using PL7 Module Status Objects

These objects are common to all the modules in the range.

They give information about the module status.

The value of these objects is updated by an explicit command:

READ_STS %CH xy .MOD

Object Symbol Meaning

%Ixy.MOD.ERR MOD_FAULT Module fault bit

%MWxy.MOD.2 FAULTY_MOD FAULTY_CH

MOD_CNF_FLT

MISSING_MOD

x0 = 1 internal fault: module failure x1 = 1 channel operating fault (see channel status)

x2 to x4 reserved

x5 = 1 configuration fault: difference between the value configured and that read

x6 = 1 module missing or off x7 = reserved

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%KWxy Module Configuration Constants

%KWxy.0.0 EVT_CONF EVT_ENABLE

EVT_NUM

Event configuration Byte 0: event masking 16#FF no event task 16#00 event task priority 0 16#01 event task priority 1 Byte 1: event task number 16#FF no event task

%KWxy.0.1 reserved

%KWxy.0.2 INPUT_CONF INPUT_MOD

LINE_FILT DIRECTION_INV MULT4_RESOL LINE_CTRL

Axis configuration x0, x1: encoder type

= 16#00: incremental encoder

= 16#01: SSI link absolute encoder

= 16#02: parallel absolute encoder and TSX ABE7CPA11

x2: reserved

x3 =1 input filtering (cut-off frequency 125KHz)

x4 =1 the axis is rotating in the opposite direction to the encoder x5: reserved

x6 =1 multiplication by 4 of the encoder resolution x7 =1 encoder line check

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TSX CCY 1128 Module using PL7

%KWxy.0.2 PRESET_MOD_0 PRESET_MOD_1

CAPTS_MOD_0 CAPTS_MOD_1 CAPTS_MOD_2

x8, x9 measurement type

=16#00 Type 1 (angle)

=16#01 Type 2 (angle + cycles)

=16#02 Type 3 (linear) x10, x11 recalibration type

=16#00 no recalibration

=16#01 recalibration on rising edge of Irec

=16#02 recalibration on rising edge of Irec in FWD

recalibration on falling edge of Irec in REV

=16#03 recalibration on ↑ of Z in FWD and Irec =1

recalibration on ↓ of Z in REV and Irec =1

x12, x13, x14 capture types capture 0: on ↑ Icapt0 in all cases capture 1:

=16#00 on ↓ Icapt0

=16#01 on ↑ Icapt1

=16#02 number of points per cycle

=16#03 angle value before recalibration

=16#04 angle value on ↑ of Z x15: reserved

%KWxy.0.3 reserved

%KWxy.0.4 ABS_ENC_CONF_0 GRAY

WITH_PAR EVEN_PAR WITH_ERR ERROR_LEV

SSI absolute encoder configuration Choice of binary / Gray code x0 =0 binary

x0 =1 Gray

x1 =1 parity bit present in the frame x2 =1 even parity

x3, x4 reserved

x5 =1 error bit present in the frame x6 = 1 logic level of error bit (default for 1 logic)

x7 to x15 reserved

%KWxy.0.5 ABS_ENC_ERROR_

RANGE

rank of error bit in the status bits value: 16#00, 16#01, 16#02, 16#03, or 16#04

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%KWxy.0.6 ABS_ENC_READ_

PERIOD

encoder read period:

16#00 = 50µs 16#01 = 100µs 16#02 = 200µs

%KWxy.0.7 ABS_ENC_EXTRA_NB BEGIN_NB

STAT_NB

number of additional bits supplied by the encoder:

Byte 0: number of header bits length of header field before MSB = 4 max

Byte 1: number of status bits length of status field before LSB = 4 max

%KWxy.0.8 ABS_ENC_DATA_NB Total number of encoder bits length of data field = 25 max

%KWxy.0.9 to

%KWxy.0.14

reserved

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%KWxy.0.15 CONTROLES_CONF C0_LOCK

C0_LOCK

PCAM_STAND_ALONE

PCAM_IGN_SC

OUTS_MAINT

SUPPLY_AUX_MSK

SUPPLY_ENC_MSK

SUPPLY_C0C1_MSK

REARM_MOD

Fault configuration x0: locking connector 0

x0 =1 no power supply monitoring on connector 0

x1: locking connector 0

x1 =1 no power supply monitoring on connector 1

x2 to x7 reserved

x8: Option on PLC communication fault:

x8 = 0 cam processor switches to STOP

x8 = 1 cam processor remains in RUN x9: Option on short-circuit fault x9 = 0 cam processor switches to STOP

x9 = 1 cam processor remains in RUN x10: Option on PLC communication fault:

x10 =0 outputs are set to 0V x10 =1 direct commands on maintained outputs

x11: Option on auxiliary input power supply fault

x11 =0 sets bit: %Ixy.0.ERR x11 =1 no effect on %Ixy.0.ERR x12: Option on encoder power supply fault

x12 =0 sets bit: %Ixy.0.ERR x12 =1 no effect on %Ixy.0.ERR x13: Option on CNX0 and CNX1 connectors power supply fault x13 =0 sets bit: %Ixy.0.ERR x13 =1 no effect on %Ixy.0.ERR x14: Reactivation of output option x14 =0 reactivation on explicit command

x14 =1 reactivation 10 seconds after tripping

x15: reserved

%KWxy.0.16 SPEED_FORMAT expression of speed

16#00: speed expressed in pts/ms 16#04: speed expressed in pts/s

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%KWxy.0.17 reserved

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%KWxy Group Configuration Constants

%KWxy.i.18 INVERT_OUTi INVERT_OUTi_0

INVERT_OUTi_1

INVERT_OUTi_7

electrical level of track outputs in group “i”

Inversion of track output i.0:

x0 = 0 output i.0 = 24V for logic state 1 x0 = 1 output i.0 = 24V for logic state 0 Inversion of track output i.1:

x1 = 0 output i.0 = 24V for logic state 1 x1 = 1 output i.0 = 24V for logic state 0 identical up to:

Inversion of track output i.7:

x7 = 0 output i.0 = 24V for logic state 1 x7 = 1 output i.0 = 24V for logic state 0

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Adjustment of the Measurement Function via Explicit Commands

%MWxy.0.20 PRESET_ANG_VALUE angle recalibration value

%MWxy.0.21 PRESET_TURN_VALUE recalibration value of number of cycles

%MWxy.0.22 SLACK_VALUE value for the axis backlash on inversion: hysteresis between -1023 and + 1023

%MWxy.0.23 MAX_PIECES maximum value of number of parts

%MWxy.0.24 ABS_OFFSET_ANG value of the absolute encoder angle offset in relation to the machine 0

%MWxy.0.25 ABS_OFFSET_TURN value of the absolute encoder cycle number offset in relation to the machine 0

%MWxy.0.26 ABS_REDUC absolute encoder resolution reduction factor:

16#01: no reduction

16#02, 16#04, 16#08, 16#10, 16#20:

division by 2, 4, 8, 16, or 32 of the value supplied by the encoder

%MWxy.0.27 RESOL_ANG machine resolution in number of points per cycle

%MWxy.0.28 RESOL_TURN machine resolution in number of cycles

%MWxy.0.29 to

%MWxy.0.31

reserved

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TSX CCY 1128 Module using PL7 Track Adjustment via Explicit Commands

Description of tracks:

The description of the tracks is contained in words:

%MWxy.i.(j) and %MWxy.i.(j+1)

“i”: represents the group to which track 0, 1, 2, or 3 is attached

“j”: represents the value of the track number (0 to 7) multiplied by 2 plus 32

%MWxy.i.(j) SPECIF_TRACK

PIECES_FORW x0, x1: action on the parts counter in forward direction

16#00: no action

16#01: incremented every time the track changes to 1

16#02: decremented every time the track changes to 1

16#03: reset to zero every time the track changes to 1

PIECES_BACK x2, x3: action on the parts counter in reverse direction

16#00: no action

16#01: incremented every time the track changes to 1

16#02: decremented every time the track changes to 1

16#03: reset to zero every time the track changes to 1

x4 to 10 reserved

ADD_TRACK x11 =1 paralleling of tracks on an output if the object represents:

track 0 then: OUT 0 = track 0 + track 4 track 1 then: OUT 1 = track 1 + track 5 track 2 then: OUT 2 = track 2 + track 6 track 3 then: OUT 3 = track 3 + track 7

INVERT_TRACK x12 =1 inversion of the track logic state EVT_TRACK x13 =1 event-triggered track

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Cam Adjustment via Explicit Commands The description of the cams is contained in words:

%MWxy.i.(j) and %MWxy.i.(j+4)

“i”: represents the group to which cam 0, 1, 2, or 3 is attached

“j”: represents the value of the cam number (0 to 31) multiplied by 5 plus 4 x14: reserved

USE_TRACK x15 =0 the track does not participate in processing

x15 =1 the track participates in processing

%MWxy.i.(j+1) ANTICIP_FACTOR feedforward factor in intervals of 50µs value between 0 and 32767

%MWxy.i.(j) SPECIF_CAM_0 specification of the profile of a cam TYP_PROFIL x0 to x2: CamProfile:

16#00: position cam 16#03: monostable cam 16#06: brake cam

FORW_ENABLE x3 =1 cam enabled in forward direction BACK_ENABLE x4 =1 cam enabled in reverse direction

x5 to x8: reserved

TRACK_NUM x9 to x11: assignment to a track number (0 to 7)

x12 to x14: reserved

USE_CAM cam declared:

x15 =0 the cam is not processed by the program

x15 =1 the cam is declared and processed by the program

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%MWxy.i.(j+1) SPECIF_CAM_1 Cam enable conditions COND_ENABLE x0, x1: cam enable condition

16#00: cam still active

16#01: cam conditioned by an enable bit 16#02: the cam is enabled when the parts counter reaches the programmed value

BIT_NUM_ENABLE x2 to x4: enable bit number x5 to x15: reserved

%MWxy.i.(j+2) X1 value of cam trigger X1

%MWxy.i.(j+3) X2 value of cam trigger X2

%MWxy.i.(j+4) TIME_SWITCH_OFF value of time delay on opening in increments of 100 µs from 0 to 16383

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Implicit Commands: Global %Q Commands

These are all the variables which are used to configure control of a channel. Variables are exchanged implicitly by the module. Commands are performed by positioning %Q bits.

In the following table: “bit” = E↑ or (E↓) indicates that control of the bit is active on a rising edge (or falling edge).

%Qxy.0.0 PRESET_ANG_ENABLE = 1 recalibration function enabled on angle value only

%Qxy.0.1 PRESET_ALL_ENABLE = 1 recalibration function enabled on angle and cycle value

%Qxy.0.2 CAPT0_ENABLE = 1 enable capture 0

%Qxy.0.3 CAPT1_ENABLE = 1 enable capture 1

%Qxy.0.4 reserved

%Qxy.0.5 PCAM_START_STOP = E↑ command to start cam processor on rising edge

command to stop cam processor on falling edge ↓

%Qxy.0.6 reserved

%Qxy.0.7 PIECES_ENABLE = 1 enable parts counter function

%Qxy.0.8 EVT_ANG_ENABLE = 1 event source on angle enabled rollover

%Qxy.0.9 EVT_TURN_ENABLE = 1 event source on cycle enabled rollover

%Qxy.0.10 EVT_PRESET_ENABLE = 1 preset enabled event source

%Qxy.0.11 EVT_CAPT0_ENABLE = 1 capture 0 enabled event source

%Qxy.0.12 EVT_CAPT1_ENABLE = 1 capture 1 enabled event source

%Qxy.0.13 EVT_CAM_ENABLE = 1 cam program enabled event source

%Qxy.0.14 EVT_PIECES_FULL_

ENABLE

= 1 parts counter limit value reached enabled event source

%Qxy.0.15 ACK_FLT = 1 acknowledgment of faults present

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%Qxy.0.16 to

%Qxy.0.20

reserved

%Qxy.0.21 PRESET_ANG_FORCE = 1 (re)calibration of angle value

%Qxy.0.22 PRESET_ALL_FORCE = 1 (re)calibration of angle and cycle value

%Qxy.0.23 PIECES_RESET = 1 parts counter reset to zero

%Qxy.0.24 reserved

%Qxy.0.25 OUTS_ENABLE = 0 outputs are maintained at rest (depending on output configuration) x25 = 1 global enabling of outputs

%Qxy.0.26 to

%Qxy.0.31

reserved

%Qxy.0.32 C0_REARM = E↑ connector 0 of groups 0 and 1 reset on rising edge

%Qxy.0.33 C1_REARM = E↑ connector 1 of groups 2 and 3 reset on rising edge

%Qxy.0.34 to

%Qxy.0.39

reserved

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Implicit Commands: Commands on %QW Groups

%QWxy.i.j words, exchanged implicitly, are used to control groups of cams for each module channel. i is the channel group number.

%QWxy.0.0 GROUP0_ENABLE_BITs x0 to x7 = 1 enable group 0 cams

%QWxy.0.1 GROUP0_AND_BITs x0 to x7 = 1 assign tracks to group 0 outputs

%QWxy.0.2 GROUP0_OR_BITs x0 to x7 = 1 force (to 1) group 0 outputs

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TSX CCY 1128 Module using PL7 Implicit Commands: Periodic Inputs: %I

Input bits or words are exchanged periodically (implicit exchange). There is no synchronization with the cam module cycle. They are used to indicate the status of the module functions.

%Ixy.0.0 ANG_OK = 1 angle reading valid

%Ixy.0.1 reserved

%Ixy.0.2 DIRECTION = 0 movement in reverse direction (-)

= 1 movement in forward direction (+)

%Ixy.0.3 PCAM_ON = 0 cam processor in STOP

= 1 cam processor in RUN

%Ixy.0.4 PIECES_FULL = 1 parts counter at limit value

%Ixy.0.5 reserved

%Ixy.0.6 reserved

%Ixy.0.7 reserved

%Ixy.0.8 IREC_STAT state of physical input IREC

%Ixy.0.9 reserved

%Ixy.0.10 ICAPT0_STAT state of physical input ICAPT0

%Ixy.0.11 ICAPT1_STAT state of physical input ICAPT1

%Ixy.0.12 IA_STAT state of encoder input IA

%Ixy.0.13 IB_STAT state of encoder input IB

%Ixy.0.14 IZ_STAT state of encoder input IZ

%Ixy.0.15 reserved

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Implicit Commands: Periodic Inputs: %IW

Words %IWxy.0.0 to %IWxy.0.10 are exchanged periodically (implicit exchanges).

%IWxy.0.0 GROUP0_TRACKS x0 to x7: state of group 0 tracks

%IWxy.0.1 ANG_VALUE x0 to x15: actual value of the position angle

%IWxy.0.2 TURN_VALUE x0 to x15: actual value of number of cycles

%IWxy.0.3 SPEED x0 to x15: speed value

%IWxy.0.4 PIECES_VALUE x0 to x15: parts counter value

%IWxy.0.5 CAPT0_ANG x0 to x15: value of capture 0 register (angle)

%IWxy.0.6 CAPT0_TURN x0 to x15: value of capture 0 register (cycle)

%IWxy.0.7 CAPT1_ANG x0 to x15: value of capture 1 register (angle)

%IWxy.0.8 CAPT1_TURN x0 to x15: value of capture 1 register (cycle)

%IWxy.0.9 OUTS_C0 x0 to x15: state of connector 0 outputs

%IWxy.0.10 OUTS_C1 x0 to x15: state of connector 1 outputs

%IWxy.0.12 EVENTS event register

EVT_ANG x0 = 1 event sent each time the angle value rolls over

EVT_TURN x1 = 1 event sent each time the cycle value rolls over

EVT_PRESET x2 = 1 event sent on recalibration EVT_CAPT0 x4 = 1 event sent on capture 0 EVT_CAPT1 x4 = 1 event sent on capture 1 EVT_CAM x5 = 1 event sent by cam program

(21)

EVT_PIECES_FULL x6 = 1 event sent when parts counter reaches limit value

x7 to x13 reserved

DIRECTION_EVT x14 = 1 forward direction of rotation on event:

EVT_TURN or EVT_ANG

x14 = 0 reverse direction of rotation on event OVERRUN_EVT x15 = 1 event overrun

%IWxy.0.13 CAME_EVT x0 to x4 = cam number x5 to x6 = group number x7 to x15 reserved

%IWxy.0.14 CAPT_ANG_EVT x0 to x15 captured angle value

%IWxy.0.15 CAPT_TURN_EVT x0 to x15 captured value of number of cycles

(22)

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Module TSX CCY 1128 using Unity Pro T_GEN_MODE type language objects of the IODDDT

List of Objects

Symbol Type Access Meaning Address

MOD_ERROR BOOL R Module error bit. %Ir.m.MOD.ERR

EXCH_STS INT R Module exchange

control word.

%MWr.m.MOD.0

STS_IN_PROGR BOOL R Reading of status words of the current module.

%MWr.m.MOD.0.0

EXCH_RPT INT R Exchange report word. %MWr.m.MOD.1

STS_ERR BOOL R Fault during reading

of the module status words.

%MWr.m.MOD.1.0

MOD_FLT INT R Internal error word. %MWr.m.MOD.2

MOD_FAIL BOOL R Internal fault, module failure.

%MWr.m.MOD.2.0

CH_FLT BOOL R Faulty channel(s). %MWr.m.MOD.2.1

BLK BOOL R Terminal block fault. %MWr.m.MOD.2.2

CONF_FLT BOOL R Software or hardware

configuration fault.

%MWr.m.MOD.2.5

NO_MOD BOOL R Module missing or off. %MWr.m.MOD.2.6

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T_CCY_GROUP0 implicit exchange type objects of the IODDT

List of all or nothing input objects with implicit exchanges

TRACK_FAULT EBOOL R Track error bit. %Ir.m.c.ERR

ANG_OK EBOOL R =1 : angle measurement valid %Ir.m.0.0 DIRECTION EBOOL R = 0 : backward direction

of movement (-)

= 1 : forward direction of movement (+)

%Ir.m.0.2

PCAM_ON EBOOL R = 0 : cam processor at STOP

= 1 : cam processor at RUN

%Ir.m.0.3

PIECES_FULL EBOOL R = 1 : parts counter at limiting value

%Ir.m.0.4

IREC_STAT EBOOL R State of IREC physical input %Ir.m.0.8 ICAPT0_STAT EBOOL R State of ICAPT0 physical input %Ir.m.0.10 ICAPT1_STAT EBOOL R State of ICAPT1 physical input %Ir.m.0.11 IA_STAT EBOOL R State of IA coder input %Ir.m.0.12 IB_STAT EBOOL R State of IB encoder input %Ir.m.0.13 IZ_STAT EBOOL R State of IZ encoder input %Ir.m.0.14

(25)

Module TSX CCY 1128 using Unity Pro List of all or nothing output objects with implicit exchanges

PRESET_ANG_ENABLE EBOOL RW = 1 : enabling of the recalibration function on the value of the angle only

%Qr.m.0.0

PRESET_ALL_ENABLE EBOOL RW = 1 : enabling of the recalibration function on the value of the angle and of the cycle

%Qr.m.0.1

CAPT0_ENABLE EBOOL RW = 1 : enable capture 0 %Qr.m.0.2 CAPT1_ENABLE EBOOL RW = 1 : enable capture 1 %Qr.m.0.3 PCAM_START_STOP EBOOL RW - Cam processor start

command active if master crosses trigger in pos. direction.

- Cam processor stop command active if master crosses trigger in neg. direction.

%Qr.m.0.5

PIECES_ENABLE EBOOL RW = 1 : enable parts counter function

%Qr.m.0.7

EVT_ANG_ENABLE EBOOL RW = 1 : event source if change of angle modulo enable

%Qr.m.0.8

EVT_TURN_ENABLE EBOOL RW = 1 : event source if change of cycle modulo enable

%Qr.m.0.9

EVT_PRESET_ENABLE EBOOL RW = 1 : preset event source enable

%Qr.m.0.10

EVT_CAPT0_ENABLE EBOOL RW = 1 : capture 0 event source enable

%Qr.m.0.11

EVT_CAPT1_ENABLE EBOOL RW = 1 : capture 1 event source enable

%Qr.m.0.12

EVT_CAM_ENABLE EBOOL RW = 1 : cam program event source enable

%Qr.m.0.13

(26)

EVT_PIECES_FULL_ENABLE EBOOL RW = 1 : parts counter limit reached event source enable

%Qr.m.0.14

ACK_FLT EBOOL RW = 1 : acknowledgement

of faults present

%Qr.m.0.15

PRESET_ANG_FORCE EBOOL RW = 1 : (re)calibration of the angle

%Qr.m.0.21

PRESET_ANG_TURN_FOR EBOOL RW =1 : (re)calibration of the angle and of the cycle

%Qr.m.0.22

PIECES_RESET EBOOL RW = 1 : reset to zero of parts counter

%Qr.m.0.23

OUTS_ENABLE EBOOL RW = 0 : the outputs are kept idle (according to configuration of outputs) bit 25 = 1 global enabling of outputs

%Qr.m.0.25

C0_REARM EBOOL RW Rearming of

connector 0 of groups 0 and 1 active if master crosses trigger in pos. direction

%Qr.m.0.32

C1_REARM EBOOL RW Rearming of

connector 1 of groups 2 and 3 active if master crosses trigger in pos. direction

%Qr.m.0.33

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Module TSX CCY 1128 using Unity Pro List of %IW input objects with implicit exchanges

GROUP0_TRACKS INT R bit 0 to bit 7 : state of tracks of group 0

%IWr.m.0.0

ANG_VALUE INT R bit 0 to bit 15 : current position angle

%IWr.m.0.1

TURN_VALUE INT R bit 0 to bit 15 : current number of cycles

%IWr.m.0.2

SPEED INT R bit 0 to bit 15 : speed value %IWr.m.0.3 PIECES_VALUE INT R bit 0 to bit 15 : parts

counter value

%IWr.m.0.4

CAPT0_ANG INT R bit 0 to bit 15 : value of capture register 0 (angle)

%IWr.m.0.5

CAPT0_TURN INT R bit 0 to bit 15 : value of capture register 0 (cycle)

%IWr.m.0.6

CAPT1_ANG INT R bit 0 to bit 15 : value of capture register 1 (angle)

%IWr.m.0.7

CAPT1_TURN INT R bit 0 to bit 15 : value of capture register 1 (cycle)

%IWr.m.0.8

OUTS_C0 INT R bit 0 to bit 15 : state of outputs of connector 0

%IWr.m.0.9

OUTS_C1 INT R bit 0 to bit 15 : state of outputs of connector 1

%IWr.m.0.10

(28)

EVENTS EVT_ANG

EVT_TURN

EVT_PRESET EVT_CAPT0 EVT_CAPT1 EVT_CAM EVT_PIECES_FULL

DIRECTION_EVT

OVERRUN_EVT

INT R Events register bit 0 = 1 : event emitted whenever there is a change in modulo of the angle

bit 1 = 1 : event emitted whenever there is a change in modulo of the cycle

bit 2 = 1 : events emitted on recalibration bit 3 = 1 : event emitted on capture 0

bit 4 = 1 : event emitted on capture 1

bit 5 = 1 : event emitted by the cam program bit 6 = 1 : event emitted when the parts counter reached the limiting value bit 7 to bit 13 reserved bit 14 = 1 : direction of rotation forward on event : EVT_TURN or EVT_ANG bit 14 = 0 : direction of rotation backward on event

bit 15 = 1 : overrun events

%IWr.m.0.12

CAME_EVT INT R bit 0 to bit 4 = cam number bit 5 to bit 6 = group number

bit 7 to bit 15 reserved

%IWr.m.0.13

CAPT_ANG_EVT INT R bit 0 to bit 15 captured value of the angle

%IWr.m.0.14

CAPT_TURN_EVT INT R bit 0 to bit 15 captured value of the number of cycles

%IWr.m.0.15

(29)

Module TSX CCY 1128 using Unity Pro List of input objects with implicit exchanges

ENAB_GROUP_BITS INT RW bit 0 to bit 7 = 1 : enable cams by track from 0 to 7, of group

%QWr.m.0.0

GROUP_AND_BITS INT RW bit 0 to bit 7 = 1 : assignment of tracks to group outputs

%QWr.m.0.1

GROUP_OR_BITS INT RW bit 0 to bit 7 = 1 : forcing (to 1) of group outputs

%QWr.m.0.2

(30)

T_CCY_GROUP0 type explicit exchange objects of the IODDT Explicit exchange execution indicators : EXCH_STS

Explicit exchanges report : EXCH_RPT

Channel error word

STS_IN_PROGR BOOL R Reading of channel status words in progress

%MWr.m.c.0.0

ADJ_IN_PROGR BOOL R Exchange of adjustment parameters in progress

%MWr.m.c.0.2

RECONF_IN_PROGR BOOL R Reconfiguration of the module in progress

%MWr.m.c.0.15

STS_ERR BOOL R Channel status words reading fault (1 = failure)

%MWr.m.c.1.0

ADJ_ERR BOOL R Error during exchange of adjustment parameters (1 = failure)

%MWr.m.c.1.2

RECONF_ERR BOOL R Error during reconfiguration of the channel

(1 = failure)

%MWr.m.c.1.15

ENC_FLT BOOL R Encoder reading fault %MWr.m.c.2.0

AUXIL_FLT BOOL R Auxiliary inputs fault %MWr.m.c.2.1 TRACKS_FLT BOOL R Track outputs fault %MWr.m.c.2.3 INTERNAL_FLT BOOL R Internal fault, channel

inoperative

%MWr.m.c.2.4

(31)

Module TSX CCY 1128 using Unity Pro

CONF_FLT BOOL R Configuration fault : different hardware and software configurations

%MWr.m.c.2.5

COM_FLT BOOL R Communication fault %MWr.m.c.2.6

APPLI_FLT BOOL R Application fault : configuration, adjustment or command fault

%MWr.m.c.2.7

CH_LED0 BOOL R Channel LED %MWr.m.c.2.8

CH_LED1 BOOL R Channel LED %MWr.m.c.2.9

ENC_SUPPLY_FLT BOOL R Encoder supply fault %MWr.m.c.2.10 ENC_WIRE_FLT BOOL R A, B or Z wiring fault %MWr.m.c.2.11 ENC_TRANSMIT_FLT BOOL R SSI frame transmission

fault (parity, format)

%MWr.m.c.2.12

AUX_SUPPLY_FLT BOOL R Auxiliary I/O supply fault %MWr.m.c.2.13 C0_SUPPLY_FLT BOOL R Connector 0 supply fault %MWr.m.c.2.14 C1_SUPPLY_FLT BOOL R Connector 1 supply fault %MWr.m.c.2.15

(32)

Extended channel error word

Measurement function adjustment parameters

EXTEN0_FLT INT R Channel state %MWr.m.c.3

ENC_ALARM BOOL R SSI encoder alarm %MWr.m.c.3.2

EXTEN1_FLT INT R Channel state %MWr.m.c.4

C0_SHORT_CIRCUIT INT R Short-circuit fault on connector 0

%MWr.m.c.6

C1_SHORT_CIRCUIT INT R Short-circuit fault on connector 1

%MWr.m.c.7

PRESET_ANG_VALUE INT RW Angle recalibration value %MWr.m.0.20 PRESET_TURN_VALUE INT RW Number of cycles

recalibration value

%MWr.m.0.21

SLACK_VALUE INT RW Value of the adjustment of axis slack at inversion : hysteresis between - 1023 and + 1023

%MWr.m.0.22

MAX_PIECES INT RW Maximum value of the number of parts

%MWr.m.0.23

ABS_OFFSET_ANG INT RW Absolute value of the encoder angle offset in relation to the machine 0

%MWr.m.0.24

ABS_OFFSET_TURN INT RW Angle recalibration value %MWr.m.0.25

ABS_REDUC INT RW Number of cycles

recalibration value

%MWr.m.0.26

RESOL_ANG INT RW Machine resolution in number of points by cycle

%MWr.m.0.27

RESOL_TURN INT RW Machine resolution in number of cycles

%MWr.m.0.28

(33)

Module TSX CCY 1128 using Unity Pro Track adjustment parameters

SPECIF_TRACK_T0 INT RW Details of bits below :

%MWr.m.0.32

- BOOL RW Action on the parts

counter in forward direction.

bit 0 =0, bit 1 = 0 : no action

bit 0 =1, bit 1 = 0:

incremented each time the track changed to 1 bit 0 =0, bit 1 = 1:

decremented each time the track changed to 1 bit 0 =1, bit 1 = 1: reset to zero each time the track changed to 1

%MWr.m.0.32.0

%MWr.m.0.32.1

counter in reverse direction.

bit 2=0, bit 3= 0 : no action

bit 2=1, bit 3=01:

incremented each time the track changed to 1 bit 2=0, bit 3= 1:

decremented each time the track changed to 1 bit 2=1, bit 3= 1: reset to zero each time the track changed to 1

%MWr.m.0.32.2

%MWr.m.0.32.3

ADD_TRACK_T0 BOOL RW bit =1 placing in parallel of tracks on an output, OUT 0 = track 0 + track 4

%MWr.m.0.32.11

INVERT_TRACK_T0 BOOL RW bit =1 inversion of track status

%MWr.m.0.32.12

EVT_TRACK_T0 BOOL RW bit =1 event track %MWr.m.0.32.13

(34)

USE_TRACK_T0 BOOL RW bit =0 track not involved in the processing bit =1 track involved in the processing

%MWr.m.0.32.15

ANTICIP_FACTOR_

T0

INT RW Anticipation factor in 50 microsecond steps value between 0 and 32767

%MWr.m.0.33

%MWr.m.0.34

bit 0 =1, bit 1 = 0:

%MWr.m.0.34.0

%MWr.m.0.34.1

bit 2=1, bit 3=01:

%MWr.m.0.34.2

%MWr.m.0.34.3

(35)

ADD_TRACK_T1 BOOL RW bit =1 placing in parallel of tracks on an output, OUT 1 = track 1 + track 5

%MWr.m.0.34.11

%MWr.m.0.34.12

EVT_TRACK_T1 BOOL RW bit =1 event track %MWr.m.0.34.13 USE_TRACK_T1 BOOL RW bit =0 track not involved

in the processing bit =1 track involved in the processing

%MWr.m.0.34.15

ANTICIP_FACTOR_

T1

INT RW Anticipation factor in 50 microsecond steps, value between 0 and 32767

%MWr.m.0.35

... ... ... ... ...

%MWr.m.0.40

bit 0 =1, bit 1 = 0:

%MWr.m.0.40.0

%MWr.m.0.40.1

(36)

- BOOL RW Action on the parts counter in reverse direction.

bit 2=1, bit 3=01:

%MWr.m.0.40.2

%MWr.m.0.40.3

%MWr.m.0.40.12

%MWr.m.0.40.15

ANTICIP_FACTOR_

T4

INT RW Anticipation factor in 50 microsecond steps, value between 0 and 32767

%MWr.m.0.40

... ... ... ... ...

%MWr.m.0.46

(37)

bit 0 =1, bit 1 = 0:

%MWr.m.0.46.0

%MWr.m.0.46.1

bit 2=1, bit 3=01:

%MWr.m.0.46.2

%MWr.m.0.46.3

%MWr.m.0.46.12

%MWr.m.0.46.15

ANTICIP_FACTOR_

T7

INT RW Anticipation factor in 50 microsecond steps value between 0 and 32767

%MWr.m.0.47

(38)

Cam adjustment parameters

SPECIF_CAM_C0 INT RW Specification of first cam profile

%MWr.m.c.48

FORW_ENABLE_C0 BOOL RW bit = 1 cam enabled in forward direction

%MWr.m.c.48.3

BACK_ENABLE_C0 BOOL RW bit = 1 cam enabled in backward direction

%MWr.m.c.48.4

USE_CAM_C0 BOOL RW bit = 0 the cam is not handled by the program bit = 1 the cam is declared and handled by the program

%MWr.m.c.48.15

SPECIF_CAM_1_C0 BOOL R Specification of second cam profile

%MWr.m.c.49

X1_C0 INT R Value of cam

threshold X1

%MWr.m.c.50

threshold X2

%MWr.m.c.51

TIME_SWITCH_OFF_C0 INT R Value of time out on opening in 100 microsecond steps from 0 to 16383

%MWr.m.c.52

... ... ... ... ...

SPECIF_CAM_C31 INT RW Specification of first cam profile

%MWr.m.c.203

FORW_ENABLE_C31 BOOL RW bit = 1 cam enabled in forward direction

%MWr.m.c.203.3

BACK_ENABLE_C31 BOOL RW bit = 1 cam enabled in backward direction

%MWr.m.c.203.4

(39)

The above table describes the parameters of cams 0 to 31, and the write rule is given in the example that follows.

For example, X2_C12 corresponds to the word %MWr.m.c.111 (111 = 51+5*12).

The general rule is as follows :

• SPECIF_CAM_Ci corresponds to %MWr.m.c.(48+5 times i).

• FORW_ENABLE_Ci corresponds to %MWr.m.c.(48+5 times i).3.

• BACK_ENABLE_Ci corresponds to %MWr.m.c.(48+5 times i).4.

• USE_CAM_Ci corresponds to %MWr.m.c.(48+5 times i).15.

• SPECIF_CAM_1_Ci corresponds to %MWr.m.c.(49+5 times i).

• X1_Ci corresponds to %MWr.m.c.(50+5 times i).

• X2_Ci corresponds to %MWr.m.c.(52+5 times i).

• TIME_SWITCH_OFF_Ci corresponds to %MWr.m.c.(52+5 times i).

USE_CAM_C31 BOOL RW bit = 0 the cam is not handled by the program bit = 1 the cam is declared and handled by the program

%MWr.m.c.203.15

SPECIF_CAM_1_C31 BOOL R Specification of second cam profile

%MWr.m.c.204

threshold X1

%MWr.m.c.205

threshold X2

%MWr.m.c.206

TIME_SWITCH_OFF_C31 INT R Value of time out on opening in 100 microsecond steps from 0 to 16383

%MWr.m.c.207

(40)

T_CCY_GROUP1_2_3 type implicit exchange objects of the IODDT

List of %IW input objects with implicit exchanges

List of %QW output objects with implicit exchanges

GROUP0_TRACKS INT R bit 0 to bit 7 : state of tracks of group 0

%IWr.m.0.0

ENAB_GROUP_BITS INT RW bit 0 to bit 7 = 1 : enable cams by track from 0 to 7, of group

%QWr.m.0.0

GROUP_AND_BITS INT RW bit 0 to bit 7 = 1 : assignment of tracks to group outputs

%QWr.m.0.1

GROUP_OR_BITS INT RW bit 0 to bit 7 = 1 : forcing (to 1) of group outputs

%QWr.m.0.2

(41)

Module TSX CCY 1128 using Unity Pro T_CCY_GROUP1_2_3 type explicit exchange objects

of the IODDT

Track adjustment parameters Idem tables on pages 13 to 16 Cam adjustment parameters Idem tables on pages 17 to 18

(42)

Configuration constants

Module level constants

Aim Symbol Meaning

%KWr.m.0.0 EVT_CONF EVT_ENABLE

EVT_NUM

Event configuration Byte 0 : event masking 16#FF no event task 16#00 event task priority 0 16#01 event task priority 1 Byte 1 : event task number 16#FF no event task

%KWr.m.0.1 reserved

(43)

Aim Symbol Meaning

%KWr.m.0.2 INPUT_CONF INPUT_MOD

LINE_FILT DIRECTION_INV

MULT4_RESOL LINE_CTRL FORMAT_MEAS_0 FORMAT_MEAS_1

PRESET_MOD_0 PRESET_MOD_1

CAPTS_MOD_0 CAPTS_MOD_1 CAPTS_MOD_2

Configuration of axis bit 0 = 1 : encoder type

= 16#00 : incremental encoder

= 16#01 : absolute SSI encoder

= 16#02 : absolute parallel encoder and TSX ABE7CPA11

bit 2 : reserved

bit 3 =1 filtering of inputs (cut-off rate 125KHz) bit 4 =1 the axis rotates in the opposite direction to the encoder

bit 5 : reserved

bit 6 =1 multiplication by 4 of the encoder resolution

bit 7 =1 encoder line check bit 8, bit 9 measurement type

=16#00 Type 1 (angle)

=16#01 Type 2 (angle + cycles)

=16#02 Type 3 (Linear) bit 10, bit 11 recalibration type

=16#00 no recalibration

=16#01 recalibration if master crosses trigger in pos. direction of Irec

=16#02 recalibration if master crosses trigger in pos. direction of Irec in AV

recalibration if master crosses trigger in pos.

direction of Irec in ARR

=16#03 recalibration if master crosses trigger in pos. direction of Z in AV and Irec =1 recalibration if master crosses trigger in neg.

direction of Z in AV and Irec =1 bit 12, bit 13, bit 14 capture types capture 0 : if master crosses trigger in pos.

direction Icapt0 in all cases capture 1 :

=16#00 if master crosses trigger in neg.

direction Icapt0

=16#01 if master crosses trigger in pos.

direction Icapt1

=16#02 number of points per cycle

=16#03 value of angle before recalibration

=16#04 value of angle if master crosses trigger in pos. direction of Z

bit 15 : reserved