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SoftMotion Configuration
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
●SoftMotion Configuration●DriveInterface components
●DriveInterface device configuration
●DriveInterface SoftMotion library●DriveInterface drive and fieldbus specific library
●DriveInterface drive configuration
●Axis position scaling●Axis SoftMotion units
●Case of position scaling for LXM05
●Drive interface- Axis_Ref_SM3●Task configuration
●Encoder configuration
●Encoder scaling●Visualization templates drive
●Exercise: SoftMotion configuration
Content
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
DriveInterface Components
●For main parts for DriveInterface:●Device configuration elements
●Fielbus specific
●SoftMotion base libraries●Drive specific libraries
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
DriveInterface Components
Can managerDevice
Drive
●DriveInterface implementation in SoMachine:
CAN manager or Fieldbus Node : CANmotion managerDrives : Servo drives “ LXM32, LXM05”
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
DriveInterface Device Configuration
●CAN manager settings
●CAN1
●CANopen manager
●CANmotion I/O mapping
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
Specification of the Baudrate
DriveInterface Device Configuration
●CAN manager settings
●CAN1
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
Specification of cyclic time fTaskCycle
� CAN Sync generation
DriveInterface Device Configuration
●CAN manager settings
●CANopen manager
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
DriveInterface Device Configuration
●CAN manager settings
●CANmotion I/O mapping
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
DriveInterface Device Configuration
●How to monitor the CANmotion parameters?●View → Watch → Watch 1
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
DriveInterface Device Configuration
●Device settings
●Remote device configuration
● PDO mapping
● SDO
● CANopen I/O mapping
● Status
● Information
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
DriveInterface Device Configuration
●Device settings●Remote device configuration to configure CANopen address
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
DriveInterface Device Configuration
Set position
Actual position
●Device settings● PDO mapping to set, reset and configure PDO to be mapped
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
DriveInterface Device Configuration
●Device settings●Service data object: Parameters set by LMC during start up
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
DriveInterface Device Configuration
●Device settings● CANopen I/O mapping
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
DriveInterface Device Configuration
●Device settings●Status
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
DriveInterface Device Configuration
●Device settings● Information
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
DriveInterface Device Configuration
e.g. Drive1 communication status
If Drive1.bcommunication and Drive1.wCommunicationState = 100
THENxStartApplication
END_IF
●Device parameters
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
DriveInterface Drive Configuration
●Drive parameters (axis)
●SoftMotion drive: Basic
●Scaling/Mapping
●Status
● Information
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
DriveInterface Drive Configuration
●Axis parameters● Linear
●Possibility of set range of movement
●bSWLimitEnable, bSWLimitNegative/Positive
●Rotary (modulo)●Specify fPositionPeriod
●Ramp type for PLCopen FBs
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
DriveInterface Drive Configuration
●Conversion: SoftMotion unit (used in PLC program) ↔ increments
●Mapping
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
IEC= Scaling factor * Increments
Scaling factor = iRatioTechUnitsNum [IEC/rev] / dwRatioTechUnitsDenom [Increments/rev]
Axis Position Scaling
●Scaling factor: Conversion from bus unit to technical unit in techn. units per unit received on bus● dwRatioTechUnitsDenom, iRatioTechUnitsNum● iRatioTechUnitsNum could be negative to change direction of rotation!
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
Axis Position Scaling
●Example with linear axis:● 1 User unit should be 1.0 mm●Motor resolution = 131072 Increments / rev; �16#20000
●No gearbox; axis with 100 mm = 1 revolution
●Scaling → dwRatioTechUnitsDenom = 131072 iRatioTechUnitsNum = 100
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
Axis Position Scaling
●Example with rotary axis:● 1 User unit should be 0.1°●Motor resolution = 131072 Increments / rev; �16#20000
●No gearbox; 1 revolution = 360° * 10
●Scaling → dwRatioTechUnitsDenom = 131072 iRatioTechUnitsNum = 360*10
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
Scaling result are units for speed and acceleration always in relation with seconds:
s = User Unit
v = User Unit/s
a = User Unit/s²
Example: User units in mm:
s = mm
v = mm/s
a = mm/s²
Axis SoftMotion Units
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
Use same scaling on SoftMotion side as on Lexium05 side “SoMove”
Highest possible resolutions:Lexium 32: 131072
Position Scaling for LXM32
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
DriveInterface SoftMotion Library
●SoftMotion base libraries●Library SM3_Basic.library needs to be included in all SoftMotion applications and
consists of:●PLCopen FBs according to PLCopen Function Blocks for Motion Control V1.1●PLCopen FBs according to PLCopen Function Blocks for Motion Control - Part 2 V1.0
●Several proprietary motion control FBs
●DriveInterface basic driver FBs
(AXIS_REF_SM3, AXIS_REF_VIRTUAL_SM3, AXIS_REF_MAPPING_SM3)
●Utility functions and function blocks for implementation of specific drive drivers
● SM3_Basic.library
● SM3_CNC.library● SM3_Visu.library
● SM3_Drive_Virtual.library
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
DriveInterface Specific Libraries
●Drive specific libraries●SM3_Drive_CAN_Schneider_Lexium05.library
●SEM_LXM.library “ Lexium Library”
●Fielbus specific libraries●SM3_Drive_CAN.library
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
DriveInterface Axis_Ref_SM3
●For each configured drive, a function-block instance with an AXIS_REF_SM3 data structure will be defined●Hold all necessary parameters/variables
● Is identical for all drive types
●AXIS_REF_SM3● Is defined in SM3_Basic.library●Can be expanded with drive specific parameters and variables
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
●Each function block has Axis-In/Output●Uniform structure of type AXIS_REF_SM3 (contain all important parameters and
variables)
● Interface between application and configuration
DriveInterface Axis_Ref_SM3
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
CAN1_SYNC external event for Motion task
“Motion” task automatically created when CANmotion selected
In this task all motion FBs have to be called
Task Configuration
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
LMC058 Encoder Hardware Implementation
Sub D 15
HSC modules DM72F0 DM72F1
Power supply switch 5-24VDC
●Encoder can be connected on●Sub D 15 with power supply adaptation switch 5VDC or 24VDC●HSC modules «DM72F0 DM72F1», for encoder with 24VDC power supply
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
Types of Supported Encoder
●Two types of encoder can be connected to LMC058
● Incremental encoder « A,B,Z … »
●SSI encoder « Data +, Data -, Clk … »
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
SoMachine Encoder Implementation
Sub-D 15
HSC module - 1
HSC module - 2
● In SoMachine 2 types of encoder implementation●SoftMotion Encoder●Standard Encoder
●LMC058 allows to use 3 Encoders (only 1 SoftMotion encoder) in application●Different combinations possible
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
CANsync task
When Encoder Value Available?
Input IEC Output
Stack CANmotion initializationAcquire T_PDOWrite the LAST cycle R_PDO valueAcquire Encoder valueRead inputsWrite %Q if without Jitter is enabledOutput DONE of MC_TouchProbe
function block updated
Execution of IEC codeRead & Write 1 SDO / Cycle…
Update %Q…
●Main actions executed in CANSync task
●CANsync task split into 3 main parts● Input● IEC●Output
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
Note: Encoder position capture is configurable in Capture Mode
Encoder Configuration
● Incremental configuration
●SSI configuration
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
Example:Incremental encoder resolution: 1000IEC-units should be in °
AB quadrature: 1000 * 4 iRatioTechUnitsDenom = 4000dwRatioTechUnitsNum = 360
Global instance of<SMC_ENCODER_REF>MyEncoder
Encoder Scaling
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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic
Visualization Templates Drive
●SM3_Visu.library provides two templates for SoMachine visualization
● LinDrive (prerequisite: Parameters fSWLimitNegative and fSWLimitPositive set)
●RotDrive