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IPOS plus
SEW-Eurodrive IPOS plus User Manual
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Drive T
echnology \ Drive Auto
mation \ System In
tegration \ Servic
es
Manual
IPOS
plus®
Positioning and Sequence Control System
Edition 1
1/2009
1
1645415
/
EN
2
Table of Contents
Default Chapter
3
Table of Contents
3
1 General Information
14
Structure of the Safety Notes
14
Liability for Defects
15
Exclusion of Liability
15
Copyright
15
2 Safety Notes
16
General Information
16
Designated Use
17
Target Group
17
Programming Errors
17
3 System Description
18
Introduction
18
Scope of this Documentation
18
Creating Programs
19
IPOS Plus® - Features
19
Controlling IPOS Plus® Units
22
Active Control Signal Source
22
Technology Options / Application Modules
22
Technology Options
22
Application Modules
23
Technical Data
25
Movidrive ® B
25
Movitrac ® B
25
Mqx
26
Reference Documents
27
General Manuals
27
Manuals for Serial Interfaces/Fieldbuses
27
Manuals for Synchronized Axis Movements
27
Manuals for Application Modules
27
Manuals for the Mqx Fieldbus Interfaces
27
4 IPOS Variables
28
Introduction
28
Overview of the System Variables
29
5 Task Management and Interrupts
40
Introduction
40
Task Management for MOVIDRIVE ® a and B
40
Tasks for MOVIDRIVE ® a
43
Tasks for MOVIDRIVE ® B
43
Processing Time for Task 1 / Task 2
43
Task 3
44
Implementation Information
44
Example
45
Interrupts
45
Example
46
Interrupts for MOVIDRIVE ® a and B
46
Interrupt Activation
46
Error Interrupt
46
Touch Probe DI02 Interrupt
47
Timer0 Interrupt
48
Variable Interrupts with MOVIDRIVE ® B
49
Calling up the Variable Interrupt
49
IPOS Access to the Internal Interrupt Control
50
6 Position Detection and Positioning
53
Encoder Evaluation
53
Motor Encoder (X15)
54
Encoder Combinations
54
External Encoder (X14)
57
Positioning on External Encoder (X14)
57
Slip Compensation with External Encoder
57
SSI Absolute Encoder (DIP)
60
Startup
60
Select Encoder Type P950
60
Set Direction of Rotation of the Motor P35
61
Set Counting Direction P951 for the SSI Absolute Encoder
61
Set Encoder Scaling P955
61
Set Position Offset P953
61
Set Zero Offset P954
62
Set Encoder Factors P942 and P943
62
Set P941 Actual Position Source
62
Referencing
63
Type 0: Reference Travel to Zero Pulse
67
Type 1: CCW End of the Reference Cam
67
Type 2: CW End of the Reference Cam
68
Type 3: CW Limit Switch
69
Type 4: CCW Limit Switch
69
Type 5: no Reference Travel
70
Type 6: Reference Cam Flush with CW Limit Switch
70
Type 7: Reference Cam Flush with CCW Limit Switch
71
Type 8: Without Enable
72
Modulo Function
73
Introduction
73
Operating Principle
74
Travel Strategies
77
Project Planning
80
Project Planning Examples
80
Frequently Asked Questions
83
Cam Controllers
84
Standard Cam Controller
85
Expanded Cam Controller
89
7 Position Detection Via Binary Inputs
96
Types of Built-In Encoders
96
Principle of the Position Detection
96
Position Detection with MOVIDRIVE ® B
97
Position Detection with MOVITRAC ® B
98
Position Detection with Mqx
99
Proximity Sensor Evaluation
99
DI0 and DI1 Terminal Assignments
99
Position Detection with Built-In Encoder
100
Encoder Monitoring
100
Storing the Actual Position
100
Counter
101
Connecting the Built-In Encoders
101
8 Ipos
102
Plus® and Fieldbus
102
Introduction
102
Binary Inputs and Outputs
103
Cyclical Process Data
103
Fieldbus Interface, DIO and DIP
103
Cyclical Preset Process Data
103
Cyclical User-Specific Process Data
104
Acyclical Communication
105
Special Features of Communication Via Sbus
105
Special Features of Communication Via RS-485
106
Fieldbus Control Words and Fieldbus Status Words
106
9 Ipos
107
Introduction
107
Speed Synchronization Via Master/Slave Function
107
Synchronous Operation with a DRS Option Card
107
Activating and Deactivating the Free Running Function
108
Setting the Zero Pointfor DRS11B
109
Activating and Deactivating the Offset Function
111
Switching between Positioning and Synchronous Operation
113
Synchronous Operation with Technology Option "Internal Synchronous Operation
115
Requirements
115
Synchronous Operation with Technology Option "Cam
116
Requirements
117
10 IPOS Plus® for MOVITRAC ® B - Characteristics
118
Requirements
118
Functionality
119
11 IPOS Plus® for Mqx - Characteristics
120
Introduction
120
Starting the Programming Tool
121
Sequence Control System
121
Digital Inputs and Outputs
121
Values of the DIAG11 Variable for the Error IPOS ILLOP
122
12 P9Xx IPOS Parameters
123
P90X IPOS Reference Travel
123
P900 Reference Offset
123
P901 Reference Speed 1
124
P902 Reference Speed 2
124
P903 Reference Travel Type
124
P904 Reference Travel to Zero Pulse
126
P905 Hiperface Offset X15
126
P906 Cam Distance
126
P91X IPOS
127
P91X Iposplus ® Parameters
127
P910 Gain X Controller
127
P911/912 Positioning Ramp 1/2
127
P913/P914 Travel Speed CW/CCW
127
P915 Velocity Precontrol
127
P916 Ramp Type
128
P917 Ramp Mode
130
P918 Bus Setpoint Source
130
P92X IPOS Monitoring
131
P920/P921 SW Limit Switch CW/CCW
131
P922 Position Window
131
P923 Lag Error Window
131
P924 Positioning Interruption Detection
131
P93X IPOS
132
Plus® Special Functions
132
P930 Override
132
P931 IPOS CTRL.W Task 1
132
P932 IPOS CTRL.W Task 2
132
P933 Jerk Time
132
P938 Speed Task 1
132
P939 Speed Task 2
133
Plus® Encoder
134
P940 IPOS Variable Edit
134
P941 Actual Position Source
134
P942/P943 Encoder Factor Numerator/Denominator
134
P944 Encoder Scaling Ext. Encoder
135
P945 Synchronous Encoder Type (X14)
135
P945 Synchronous Encoder Counting Direction (X14)
136
P947 Hiperface Offset X14
136
P948 Automatic Encoder Replacement Detection
137
P95X Absolute Encoder (SSI)
138
P950 Encoder Type
138
P951 Counting Direction
138
P952 Cycle Frequency
139
P953 Position Offset
139
P954 Zero Offset
139
P955 Encoder Scaling
139
P956 CAN Encoder Baud Rate
139
P96X IPOS
140
Plus® Modulo Function
140
P960 Modulo Function
140
P961 Modulo Numerator
140
P962 Modulo Denominator
140
P963 Modulo Encoder Resolution
140
P97X IPOS Synchronization
141
P970 DPRAM Synchronization
141
P971 Synchronization Phase
141
13 Compiler - Editor
142
Technical Features
142
First Steps
143
Motionstudio
143
Step 2: Creating a New Project
145
Step 3: the First IPOS Plus® Program
148
Step 4: Compiling and Starting the IPOS Plus® Program
151
Settings for the IPOS Plus® Compiler
154
Search Function
157
Creating a New Project
158
Project Properties
158
Defining the Program Structure
159
Saving a Project
161
Setting up a Project Management Structure
162
Opening a Project
164
Handling Projects with MOVIDRIVE ® B
164
Saving a Project in the Inverter
164
Loading a Project from the Inverter
165
Calling up a Project from the Inverter
165
Compiling a Project
166
Compiling and Downloading
167
Starting a Program
167
Stopping a Program
167
Comparison with Unit
167
Debugger
168
Variable Window
169
Program Information
171
Entering Instructions
172
Comments
173
Overview of the Icons
174
14 Compiler - Programming
175
Preprocessor
176
Preprocessor Statements
176
Include
178
Include Folders
179
Define
179
Undef
180
Declare
181
SEW Standard Structures
182
User-Defined Structures
184
Long
186
Initial Long
186
Pragma
187
Explanation of Const.h and Io.h / Constb.h and Iob.h
188
Identifiers
190
Constants
190
Iposplus Variables in the Compiler
191
Example
191
Declaration of Global Variables
191
Indirect Addressing - Pointer
192
Numof()
193
15 Compiler - Operators
194
Order of Priority of Operators
194
Unary Operators
195
Binary Operators
196
Example
196
Ternary Operators
196
16 Compiler - Constructions
197
Syntax
197
For
198
Syntax
198
While
199
Syntax
199
Syntax
200
Do...while
200
Switch
202
Syntax
202
Return
203
17 Compiler - Functions
204
User-Defined Functions
204
Overview of Commands for Standard Functions
205
Standard Bit Functions
205
Standard Communication Functions
206
Standard Positioning Functions
206
Standard Program Functions
206
Standard Setting Functions
207
Special Standard Unit Functions
207
Standard Functions
208
Axisstop
208
Bitclear
209
Bitmove
209
Bitmoveneg
209
Bitset
210
Copy
210
Faultreaction
210
Getsys
211
Go0
217
Goabs
218
Gorel
219
Inputcall
220
Memorize
221
Movilink
222
Movcommdef
227
Movcommon
229
Nop
229
Sbuscommdef
230
Sbuscommon
234
Sbuscommstate
234
Setinterrupt
235
Setsys
236
Settask
238
Settask2
239
Setvarinterrupt
240
Systemcall
241
Touchprobe
242
Wait
243
Waitinput
243
Waitsystem
244
Wdoff
244
Wdon
245
18 Compiler - Examples
246
Setting Bits and Output Terminals
246
Clearing Bits and Output Terminals
247
Querying Bits and Input Terminals
248
Testing Single Bits
248
Testing Several Bits
248
Querying an Edge
249
Example 1
249
Example 2
251
Value of a Number
252
Movilink Command
253
Reading an Internal Unit Parameter
253
Writing a Variable Via Sbus
254
Reading a Parameter Via Sbus
255
SCOM Communication
256
Receiver
256
Sender
257
Touch Probe Interrupt Processing
258
State Machine, Fieldbus Control with Emergency Mode
261
Mode 0
265
Mode 1
265
Mode 2
265
Mode 3
265
Compiler Programming Frame
266
19 Compiler - Error Messages
275
20 Assembler - Introduction
276
Setting the User Travel Units
276
Travel Distance Factors NUMERATOR/DENOMINATOR
276
Unit
278
First Steps
279
Starting the IPOS Plus® Assembler
279
Creating a New Program
280
Compiling and Starting the Program
281
21 Assembler - Editor
282
Example
283
Creating Programs
283
Inserting Command Lines
283
Compiling and Downloading
284
Starting/Stopping Programs
285
Variable Window
285
File/Unit Comparison
285
Debugger
285
Execute to Cursor
286
Single Step
286
Loading the Program from the Inverter
287
Overview of the Icons
287
22 Assembler - Programming
288
Basics
288
Program Header
288
Task 1 / Task 2 / Task 3
288
Comments
288
Program Branches
288
Subroutine System
288
Program Loops
289
Positioning Commands
289
Binary/Analog Inputs/Outputs
289
Access to System Values/Parameters
289
Variables
290
Program Line
290
Binary Inputs/Outputs
291
Binary Inputs
291
Binary Outputs
293
Analog Inputs/Outputs
296
Reading Analog Inputs/Outputs
296
Setting Analog Outputs
296
23 Assembler - Commands
297
General Information
297
Overview of Commands
297
Arithmetic Commands
297
Bit Commands
298
Communication Commands
298
Positioning Commands
299
Program Commands
299
Set Commands
300
Special Unit Commands
300
Comparison Commands
301
Arithmetic Commands
302
Fundamental Operations ADD / SUB / MUL / DIV
302
Auxiliary Arithmetic Functions NOT/MOD
303
Logical Operations AND/OR/XOR
304
SHIFT Commands SHL/SHR/ASHR
305
Bit Commands
307
Bit Commands BSET/BCLR/BMOV/BMOVN
307
Communication Commands
309
Movlnk
309
Movcom
314
Movon
315
Scom
316
Scomon
321
Scomst
322
Positioning Commands
323
Reference Travel GO0
323
GOA Absolute Positioning / GOR Relative Positioning
325
Program Commands
329
Program Command END
329
Subroutine Call CALL
329
Jump Commands JMP
330
Loop Commands LOOP
332
No Operation NOP / Remark REM / Return RET / TASK / TASK2 / Wait WAIT
333
Set Commands
336
Copy Variables COPY
336
Read System Values GETSYS
336
Set Commands Variable SET / Fault Response SETFR / Indirect Addressing SETI / Interrupt SETINT / System Values SETSYS
339
Setsys
344
Varint
347
Special Unit Commands
349
Astop / Mem / Touchp / Wdoff / Wdon
349
Comparison Commands
355
Comparison Operations CPEQ / CPGE / CPGT / CPLE
355
Cplt / Cpne
355
Logical Operations ANDL / ORL / NOTL
358
24 Assembler - Examples
360
Flashing Light" Sample Program
360
Sample "Controller
360
Sample "Positioning
361
Hoist" Sample Program
362
Characteristics
362
Settings
362
Schematic Structure
363
Terminal Wiring
364
Setting Parameters Relevant to the Example
365
Calculating the IPOS Plus® Parameters
365
Input Terminals
366
Output Terminals
366
Program Source Code (with Remarks)
367
Jog Mode" Sample Program
368
Characteristics
368
Settings
368
Input Terminals
369
Output Terminals
369
Program Source Code (with Remarks)
370
Characteristics
372
Table Positioning" Sample Program
372
Settings
373
Input Terminals
374
Output Terminals
374
Program Source Code (with Remarks)
375
Index
378
4
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SEW-Eurodrive IPOS plus Specifications
General
Brand
SEW-Eurodrive
Model
IPOS plus
Category
Control Systems
Language
English
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