SoMachine

EIO0000002553 06/2017

SoMachine
Altivar / PLCopen / EtherNet/IP
Example Guide
06/2017
EIO0000002553.00

www.schneider-electric.com
 The information provided in this documentation contains general descriptions and/or technical
characteristics of the performance of the products contained herein. This documentation is not
intended as a substitute for and is not to be used for determining suitability or reliability of these
products for specific user applications. It is the duty of any such user or integrator to perform the
appropriate and complete risk analysis, evaluation and testing of the products with respect to the
relevant specific application or use thereof. Neither Schneider Electric nor any of its affiliates or
subsidiaries shall be responsible or liable for misuse of the information contained herein. If you
have any suggestions for improvements or amendments or have found errors in this publication,
please notify us.
You agree not to reproduce, other than for your own personal, noncommercial use, all or part of
this document on any medium whatsoever without permission of Schneider Electric, given in
writing. You also agree not to establish any hypertext links to this document or its content.
Schneider Electric does not grant any right or license for the personal and noncommercial use of
the document or its content, except for a non-exclusive license to consult it on an "as is" basis, at
your own risk. All other rights are reserved.
All pertinent state, regional, and local safety regulations must be observed when installing and
using this product. For reasons of safety and to help ensure compliance with documented system
data, only the manufacturer should perform repairs to components.
When devices are used for applications with technical safety requirements, the relevant
instructions must be followed.
Failure to use Schneider Electric software or approved software with our hardware products may
result in injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
© 2017 Schneider Electric. All Rights Reserved.

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 Table of Contents

Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1 Example Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Chapter 2 Project Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.1 Hardware Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Overview of the Hardware Configuration. . . . . . . . . . . . . . . . . . . . . . . 18
2.2 Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Programming Framework . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
SR_Class2ReactionDispatcher Program . . . . . . . . . . . . . . . . . . 22
SR_Altivarxxx Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
SR_ExceptionTranslation Program . . . . . . . . . . . . . . . . . . . . . . 23
Task Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.3 Visualization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Visualization Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.4 Running the Application Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Preconditions for Running the Application Example . . . . . . . . . . . . . . 29
Downloading the Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Operating the Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Glossary ......................................... 33
Index ......................................... 35

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4 EIO0000002553 06/2017
 Safety Information

Important Information

NOTICE
Read these instructions carefully, and look at the equipment to become familiar with the device
before trying to install, operate, service, or maintain it. The following special messages may appear
throughout this documentation or on the equipment to warn of potential hazards or to call attention
to information that clarifies or simplifies a procedure.

EIO0000002553 06/2017 5
PLEASE NOTE
Electrical equipment should be installed, operated, serviced, and maintained only by qualified
personnel. No responsibility is assumed by Schneider Electric for any consequences arising out of
the use of this material.
A qualified person is one who has skills and knowledge related to the construction and operation
of electrical equipment and its installation, and has received safety training to recognize and avoid
the hazards involved.

BEFORE YOU BEGIN

Do not use this product on machinery lacking effective point-of-operation guarding. Lack of
effective point-of-operation guarding on a machine can result in serious injury to the operator of
that machine.

WARNING
UNGUARDED EQUIPMENT
 Do not use this software and related automation equipment on equipment which does not have
point-of-operation protection.
 Do not reach into machinery during operation.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

This automation equipment and related software is used to control a variety of industrial processes.
The type or model of automation equipment suitable for each application will vary depending on
factors such as the control function required, degree of protection required, production methods,
unusual conditions, government regulations, etc. In some applications, more than one processor
may be required, as when backup redundancy is needed.
Only you, the user, machine builder or system integrator can be aware of all the conditions and
factors present during setup, operation, and maintenance of the machine and, therefore, can
determine the automation equipment and the related safeties and interlocks which can be properly
used. When selecting automation and control equipment and related software for a particular
application, you should refer to the applicable local and national standards and regulations. The
National Safety Council's Accident Prevention Manual (nationally recognized in the United States
of America) also provides much useful information.
In some applications, such as packaging machinery, additional operator protection such as point-
of-operation guarding must be provided. This is necessary if the operator's hands and other parts
of the body are free to enter the pinch points or other hazardous areas and serious injury can occur.
Software products alone cannot protect an operator from injury. For this reason the software
cannot be substituted for or take the place of point-of-operation protection.
Ensure that appropriate safeties and mechanical/electrical interlocks related to point-of-operation
protection have been installed and are operational before placing the equipment into service. All
interlocks and safeties related to point-of-operation protection must be coordinated with the related
automation equipment and software programming.

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 NOTE: Coordination of safeties and mechanical/electrical interlocks for point-of-operation
protection is outside the scope of the Function Block Library, System User Guide, or other
implementation referenced in this documentation.

START-UP AND TEST

Before using electrical control and automation equipment for regular operation after installation,
the system should be given a start-up test by qualified personnel to verify correct operation of the
equipment. It is important that arrangements for such a check be made and that enough time is
allowed to perform complete and satisfactory testing.

WARNING
EQUIPMENT OPERATION HAZARD
 Verify that all installation and set up procedures have been completed.
 Before operational tests are performed, remove all blocks or other temporary holding means
used for shipment from all component devices.
 Remove tools, meters, and debris from equipment.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Follow all start-up tests recommended in the equipment documentation. Store all equipment
documentation for future references.
Software testing must be done in both simulated and real environments.
Verify that the completed system is free from all short circuits and temporary grounds that are not
installed according to local regulations (according to the National Electrical Code in the U.S.A, for
instance). If high-potential voltage testing is necessary, follow recommendations in equipment
documentation to prevent accidental equipment damage.
Before energizing equipment:
 Remove tools, meters, and debris from equipment.
 Close the equipment enclosure door.
 Remove all temporary grounds from incoming power lines.
 Perform all start-up tests recommended by the manufacturer.

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OPERATION AND ADJUSTMENTS
The following precautions are from the NEMA Standards Publication ICS 7.1-1995 (English
version prevails):
 Regardless of the care exercised in the design and manufacture of equipment or in the selection
and ratings of components, there are hazards that can be encountered if such equipment is
improperly operated.
 It is sometimes possible to misadjust the equipment and thus produce unsatisfactory or unsafe
operation. Always use the manufacturer’s instructions as a guide for functional adjustments.
Personnel who have access to these adjustments should be familiar with the equipment
manufacturer’s instructions and the machinery used with the electrical equipment.
 Only those operational adjustments actually required by the operator should be accessible to
the operator. Access to other controls should be restricted to prevent unauthorized changes in
operating characteristics.

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 About the Book

At a Glance

Document Scope
This document describes an example how to implement an Altivar variable speed drive controlled
via fieldbus EtherNet/IP.

Validity Note
This document has been updated for the release of SoMachine V4.3.
The technical characteristics of the devices described in this document also appear online. To
access this information online:

Step Action
1 Go to the Schneider Electric home page www.schneider-electric.com.
2 In the Search box type the reference of a product or the name of a product range.
 Do not include blank spaces in the reference or product range.
 To get information on grouping similar modules, use asterisks (*).

3 If you entered a reference, go to the Product Datasheets search results and click on the
reference that interests you.
If you entered the name of a product range, go to the Product Ranges search results and click
on the product range that interests you.
4 If more than one reference appears in the Products search results, click on the reference that
interests you.
5 Depending on the size of your screen, you may need to scroll down to see the data sheet.
6 To save or print a data sheet as a .pdf file, click Download XXX product datasheet.

The characteristics that are presented in this manual should be the same as those characteristics
that appear online. In line with our policy of constant improvement, we may revise content over time
to improve clarity and accuracy. If you see a difference between the manual and online information,
use the online information as your reference.

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Product Related Information

WARNING
LOSS OF CONTROL
 The designer of any control scheme must consider the potential failure modes of control paths
and, for certain critical control functions, provide a means to achieve a safe state during and
after a path failure. Examples of critical control functions are emergency stop and overtravel
stop, power outage and restart.
 Separate or redundant control paths must be provided for critical control functions.
 System control paths may include communication links. Consideration must be given to the
implications of unanticipated transmission delays or failures of the link.
 Observe all accident prevention regulations and local safety guidelines.1
 Each implementation of this equipment must be individually and thoroughly tested for proper
operation before being placed into service.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

1For additional information, refer to NEMA ICS 1.1 (latest edition), "Safety Guidelines for the
Application, Installation, and Maintenance of Solid State Control" and to NEMA ICS 7.1 (latest
edition), "Safety Standards for Construction and Guide for Selection, Installation and Operation of
Adjustable-Speed Drive Systems" or their equivalent governing your particular location.
Before you attempt to provide a solution (machine or process) for a specific application using the
POUs found in the library, you must consider, conduct and complete best practices. These
practices include, but are not limited to, risk analysis, functional safety, component compatibility,
testing and system validation as they relate to this library.

WARNING
IMPROPER USE OF POUS
 Perform a safety-related analysis for the application and the devices installed.
 Ensure that the POUs are compatible with the devices in the system and have no unintended
effects on the proper functioning of the system.
 Use appropriate parameters, especially limit values, and observe machine wear and stop
behavior.
 Verify that the sensors and actuators are compatible with the selected POUs.
 Thoroughly test all functions during verification and commissioning in all operation modes.
 Provide independent methods for critical control functions (emergency stop, conditions for limit
values being exceeded, etc.) according to a safety-related analysis, respective rules, and
regulations.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

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 WARNING
UNINTENDED EQUIPMENT OPERATION
 Only use software approved by Schneider Electric for use with this equipment.
 Update your application program every time you change the physical hardware configuration.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Incomplete file transfers, such as data files, application files and/or firmware files, may have
serious consequences for your machine or controller. If you remove power, or if there is a power
outage or communication interruption during a file transfer, your machine may become inoperative,
or your application may attempt to operate on a corrupted data file. If a an interruption occurs,
reattempt the transfer. Be sure to include in your risk analysis the impact of corrupted data files.

WARNING
UNINTENDED EQUIPMENT OPERATION, DATA LOSS, OR FILE CORRUPTION
 Do not interrupt an ongoing data transfer.
 If the transfer is interrupted for any reason, re-initiate the transfer.
 Do not place your machine into service until the file transfer has completed successfully,
unless you have accounted for corrupted files in your risk analysis and have taken appropriate
steps to prevent any potentially serious consequences due to unsuccessful file transfers.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Related Documents

Document title Reference

SoMachine Programming Guide EIO0000000067 (ENG);
SoMachine Motion Control Library Guide EIO0000002221 (ENG)
Altivar Machine 320 - Modbus TCP -Ethernet/IP NVE41313 (ENG)
Manual
Altivar Machine 320 - Installation Manuall NVE41289 (ENG)
Altivar Machine 340 - Ethernet Embedded Manual NVE61653 (ENG)
Altivar Machine 340 - Installation Manuall NVE61069 (ENG)
Altivar Process 600 - Modbus TCP - EtherNet/IP EVA64328 (ENG)
Manual
Altivar Process, Variable Speed Drives ATV630, EVA64301 (ENG)
ATV650 - Installation Manuall
Altivar Process 900 - Ethernet Embedded Manual NHA80940 (ENG)

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 Document title Reference
Altivar Process, Variable Speed Drives ATV930, NHA80932 (ENG)
ATV950 - Installation Manuall

You can download these technical publications and other technical information from our website
at http://www.schneider-electric.com/en/download.

Terminology Derived from Standards

The technical terms, terminology, symbols and the corresponding descriptions in this manual, or
that appear in or on the products themselves, are generally derived from the terms or definitions
of international standards.
In the area of functional safety systems, drives and general automation, this may include, but is not
limited to, terms such as safety, safety function, safe state, fault, fault reset, malfunction, failure,
error, error message, dangerous, etc.
Among others, these standards include:

Standard Description
EN 61131-2:2007 Programmable controllers, part 2: Equipment requirements and tests.
ISO 13849-1:2008 Safety of machinery: Safety related parts of control systems.
General principles for design.
EN 61496-1:2013 Safety of machinery: Electro-sensitive protective equipment.
Part 1: General requirements and tests.
ISO 12100:2010 Safety of machinery - General principles for design - Risk assessment and risk
reduction
EN 60204-1:2006 Safety of machinery - Electrical equipment of machines - Part 1: General
requirements
EN 1088:2008 Safety of machinery - Interlocking devices associated with guards - Principles
ISO 14119:2013 for design and selection
ISO 13850:2006 Safety of machinery - Emergency stop - Principles for design
EN/IEC 62061:2005 Safety of machinery - Functional safety of safety-related electrical, electronic,
and electronic programmable control systems
IEC 61508-1:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: General requirements.
IEC 61508-2:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: Requirements for electrical/electronic/programmable
electronic safety-related systems.
IEC 61508-3:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: Software requirements.
IEC 61784-3:2008 Digital data communication for measurement and control: Functional safety
field buses.
2006/42/EC Machinery Directive

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 Standard Description
2014/30/EU Electromagnetic Compatibility Directive
2014/35/EU Low Voltage Directive

In addition, terms used in the present document may tangentially be used as they are derived from
other standards such as:

Standard Description
IEC 60034 series Rotating electrical machines
IEC 61800 series Adjustable speed electrical power drive systems
IEC 61158 series Digital data communications for measurement and control – Fieldbus for use in
industrial control systems

Finally, the term zone of operation may be used in conjunction with the description of specific
hazards, and is defined as it is for a hazard zone or danger zone in the Machinery Directive
(2006/42/EC) and ISO 12100:2010.
NOTE: The aforementioned standards may or may not apply to the specific products cited in the
present documentation. For more information concerning the individual standards applicable to the
products described herein, see the characteristics tables for those product references.

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 SoMachine
Example Description
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Chapter 1
Example Description

Example Description

Overview

Short Description
The SoMachine project AltivarPLCopenEtherNetIPExample.project implements an application
example which shows how to implement an Altivar variable speed drive controlled via fieldbus
EtherNet/IP. The application example is based on a programming framework supporting general
machine control. The monitor and control functions for the Altivar drives are implemented using the
PLCopen function blocks from the library GMC Independent PLCopen MC.

System Requirements and Limitations

The application example has been created with the components listed in the table:

Component Type and Version

Software SoMachine V4.3
Controller TM251MESE1)
Additional devices  Altivar 320, equipped with the communication module VW3A3616
 Altivar 340E (Ethernet embedded)
 Altivar 630, equipped with the communication module VW3A3720
 Altivar 930 (Ethernet embedded)

1) This example is based on the Modicon M251 Logic Controller, however, in principle, the concepts for the
implementation of the Altivar drives on EtherNet/IP are the same for other SoMachine controllers. As a
precondition, the controller must support the EtherNet/IP scanner and the GMC Independent PLCopen
MC library.

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Example Description

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 SoMachine
Project Information
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Chapter 2
Project Information

Project Information

Overview
This section provides information about the SoMachine project.

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
2.1 Hardware Configuration 18
2.2 Application 20
2.3 Visualization 26
2.4 Running the Application Example 28

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Project Information

Section 2.1
Hardware Configuration

Hardware Configuration

Overview of the Hardware Configuration

Overview of the Hardware Configuration

The project example implements a Modicon M251 Logic Controller and the four different Altivar
variable speed drives. The Altivar drives are linked to the controller via EtherNet/IP fieldbus as
EtherNet/IP targets. The controller is the EtherNet/IP scanner and implements the logic to control
and monitor the drives over the fieldbus.
The figure presents the layout of the network:

Item Description
1 Modicon M251 Logic Controller
2 Altivar ATV320 equipped with the communication module VW3A3616
3 Altivar ATV340E with embedded Ethernet board
4 Altivar ATV630 equipped with the communication module VW3A3720
5 Altivar ATV930 with embedded Ethernet board

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 Project Information

Hardware Configuration Procedure

Perform the following steps for the hardware configuration in the SoMachine project.

Step Action Comment

1 In the Devices tree, double-click the Ethernet interface Configure the IP parameter and activate
and configure the parameter in the device editor. the DHCP server.
2 In the Devices tree, add the Industrial Ethernet Execute the Add Device … command
Manager under the Ethernet interface of the controller. from the contextual menu of the
Ethernet interface. In the Add Device
dialog box, double-click the Industrial
Ethernet Manager to add it to the
project.
3 Select the Industrial Ethernet Manager node in the The Add Device dialog box is updated
Devices tree. and lists the devices which can be
added.
4 Double-click the EtherNet/IP target Altivar 320 to add –
it under the Industrial Ethernet Manager node.
5 Double-click the EtherNet/IP target Altivar 340 to add –
it under the Industrial Ethernet Manager node.
6 Double-click the EtherNet/IP target Altivar 6xx to add it –
under the Industrial Ethernet Manager node.
7 Double-click the EtherNet/IP target Altivar 9xx to add it –
under the Industrial Ethernet Manager node.
8 Close the Add Device dialog box. –
9 In the Devices tree, double-click the Industrial Ethernet In the table, you can configure the
Manager node and select the tab Network Manager in communication parameter for the
the open device editor. Ethernet devices under the Industrial
Ethernet Manager node.

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Project Information

Section 2.2
Application

Application

What Is in This Section?

This section contains the following topics:
Topic Page
Programming Framework 21
SR_Class2ReactionDispatcher Program 22
SR_Altivarxxx Programs 23
SR_ExceptionTranslation Program 23
Task Configuration 24

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 Project Information

Programming Framework

Overview of the Programming Framework

The application example is based on a programming framework which represents a generic
implementation for machine control.
The programming framework consists of three categories of components:

Component Description
MainMachine The MainMachine provides the framework for the process of the machine control.
It implements the typical steps like for example, initialization, reading and
processing of the inputs, writing the outputs, and the operating mode selection.
Device/Module Handler The Device/Module Handler implements the control logic of the specific module
or device. It provides an interface which is processed in the single steps of the
MainMachine. Further, each module implements a generic exception handler to
publish module exceptions and to receive reactions requested because of
external exceptions generated by other devices in the machine control.
Reaction Dispatcher The Reaction Dispatcher monitors exceptions and distributes the reactions
based on the rules specified in the Device/Module Handler.

For the interaction of the components inside the programming framework, different shared objects
like for example, function blocks, structures, or interfaces are required.
These shared objects in the application example are contained in a folder with name To be moved
to Library. To apply the introduced programming framework concept for other applications,
outsource these objects to a library and reference it in your projects.

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Project Information

SR_Class2ReactionDispatcher Program

Overview of the SR_Class2ReactionDispatcher

The programming framework implements an exception/reaction handling. The exceptions are
classified in 3 and the reactions are classified in four classes. The criticality is increasing starting
with class 1. Each module handler implements a reaction handling covering each class.
The program SR_Class2ReactionDispatcher implements the logic to monitor the exceptions
and to distribute reactions based on specified rules to the machine modules through the global
data-structure GVL.g_stExceptionControlData.
The application example implements an instance of the function block FB_Class2ReactionEx-
ceptionDispatcher. This function block implements a simple reaction dispatcher with only one
global rule for dispatching a reaction. Each exception triggers a reaction on each module
depending on its class.
The table lists the resulting reactions for each exception class implemented in the application
example.

Exception class Reaction class Reaction in module handler

0 0 No reaction
1 2 Stop the drive immediately, keep the power stage on
2 3 Stop the drive immediately, succeeding disable the power stage
3 4 Disable immediately the power stage

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 Project Information

SR_Altivarxxx Programs

Overview
The programs SR_Altivar320, SR_Altivar340, SR_Altivar630, and SR_Altivar930
implement the control logic for the associated variable speed drive and provide the interface for the
MainMachine. Internally an instance of the function block FB_HandlerAtvGmc is called.
The function block uses the library GMC Independent PLCopen MC to control and monitor the
drive. The application example implements a selection of the mandatory and typically used motion
control function blocks of this library. The libraries GMC Independent PLCopen MC and GMC
Independent Altivar provide further function blocks for motion control and device configuration.
The FB_HandlerAtvGmc implements an instance of the function block FB_LocalException-
Handler. With the use of this function block, the local exceptions are sent to and requested
reactions are received from the global reaction dispatcher of the framework through the global
data-structure GVL.g_stExceptionControlData.
The FB_HandlerAtvGmc is designed to be integrated in the programming framework
environment. However, it can be used also in applications which are not based on the
programming framework concept, introduced in the application example.

SR_ExceptionTranslation Program

Overview
The program SR_ExceptionTranslation implements the logic to convert the numeric error
codes for each exception into a plain text message which can be displayed in a SoMachine
visualization or on an HMI.
Internally an instance of the function block FB_UpdateExpandedExceptionList is called. This
function block can reference an exception translator for each type of module.
Each exception is generated with a unique module ID and the device type ID to identify the source
of the exception. The function block FB_UpdateExpandedExceptionList converts the error
code of an exception into a plain text which is defined in the translator with the same device type ID.
In the application example for each module handler, as well as for the MainMachine an exception
translator function block is implemented.
The SR_ExceptionTranslation is called in a separate task with lower priority and a greater
task interval than the MAST task.

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Project Information

Task Configuration

Overview
The task configuration of the application example contains beside the default task MAST one
additional task Translator.
The graphic provides an overview about the different tasks and the associated program calls.

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 Project Information

Pos. Description
1 Exceptions and reactions are exchanged through the global exception control data
2 The reaction dispatcher monitors the exceptions and distributes the reactions
3 Translator reads the exceptions from the global list
4 Translator creates an expanded exception list which provides plain text messages

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Project Information

Section 2.3
Visualization

Visualization

Visualization Screen

Overview
The application example implements a SoMachine visualization to control and to monitor the
application. The visualization is available as web visualization.
The web visualization offers you access to machine control functions over the network. To help
prevent unauthorized access to your machine control, implement the following technical and
organizational measurements for the system running your application.

WARNING
UNAUTHENTICATED, UNAUTHORIZED ACCESS
 Do not expose controllers and controller networks to public networks and the Internet as much
as possible.
 Use additional security layers such as VPN for remote access and install firewall mechanisms.
 Restrict access to authorized personnel by activation and deployment of the user
management of the controller and the visualization.
 Change default passwords at start-up and modify them frequently.
 Validate the effectiveness of these measurements regularly and frequently.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

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 Project Information

Visualization Screen - VisuMainMachine

A general overview and a main control panel are provided on the visualization screen
VisuMainMachine.

In addition, for each Altivar module a separate visualization screen is implemented. These
visualization screens provide extensive control functions which can be used during commissioning
phase.

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Project Information

Section 2.4
Running the Application Example

Running the Application Example

What Is in This Section?

This section contains the following topics:
Topic Page
Preconditions for Running the Application Example 29
Downloading the Application 29
Operating the Application 30

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 Project Information

Preconditions for Running the Application Example

Overview
To run the application example, the following preconditions must be fulfilled:
 The application was downloaded and is running on the associated controller.
 The Altivar drives are configured for the control over the associated fieldbus. Further
configuration of the drive is compatible with the connected motor and driven mechanical parts.
 A PC, laptop, or mobile device with a compatible web browser is connected to the same network
as the controller so that the web visualization can be accessed.

Downloading the Application

Overview
To set the communication parameter of the controller, and to download the applications, perform
these steps:

Step Action Comment

1 Connect your PC to the controller via Ethernet. The controller and the PC must be connected to
the same Ethernet network.
2 Open the project example in SoMachine and open the –
Logic Builder.
3 Double-click the MyController node in the Devices A network scan is performed automatically.
tree. Available controllers are provided in the
Controller selection view of the device editor.
4 Select the target controller from the list. –
5 Right-click the controller entry and execute the –
command Process communication settings... from the
contextual menu.
6 Enter the Communication parameter. –
7 Activate the option Save settings permanently and Result: The communication parameters are
click the OK button. stored on the controller. They are retained even
if it is restarted. These parameters override the
application settings.
8 Execute the Multiple Download... command from the –
Online menu.
9 In the Multiple Download dialog box, select the Result: The application is downloaded to the
application, and click the OK button. previously selected controller.

For more information on downloading an application and the communication settings, refer to the
SoMachine Programming Guide (see SoMachine, Programming Guide).

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Project Information

Operating the Application

Overview
The application examples implement a web visualization for monitoring and control purposes.
To open the web visualization, enter the following address in the address bar of a web browser:
http://<IP Address>:8080\webvisu.htm
This section provides a brief description of each function. In addition, refer to the visualization
screen (see page 26).

Start-up of the Drives

The application example is based on the programming framework which implements the essential
operating modes. To operate the drives, follow this sequence:
1. Enable: Enables the power stage of all drives.
2. Homing: Referencing of all axes.
3. If all axes are enabled and referenced, you can operate the machine in manual or automatic
mode.
NOTE: If no operating mode is in progress, the power stage of all drives can be powered off with
the Disable Request command.

Manual Mode
The following operations are available:
 Click the Manual Mode Request button to enter the manual mode.
 Click the Manual Mode Exit button to leave the manual mode.
 Select the drives you want to operate in Jog-Mode.
 Select the speed for jog operation.
 Click the JogFwd or JogRev buttons to start a movement of connected motor in the according
direction.
NOTE: Only if manual mode is in progress the buttons are used to control the drives.
The movement ends as soon you release the respective button.

Automatic Mode
The following operations are available:
 Click the Automatic Mode Request button to enter in automatic mode.
 Click the Automatic Mode Exit button to leave the automatic mode.
 Select the speed for automatic mode.
 Click the Automatic Mode Start button to start the automatic sequence.
 Click the Automatic Mode Stop button to stop the automatic sequence.
 While automatic mode is in progress, you can adjust the speed setpoint. Accordingly the speed
of the drives is changed immediately.

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Quick Stop
The visualization VisuMainMachine provides a Quick Stop button. If you click this button an
exception of class 1 is generated. This exception requests a reaction of class 2 for all modules,
which causes an immediately stop for all drives while the power stage stays enabled.

Exception List
The visualization VisuMainMachine provides an exception list in which all active exceptions are
listed with the information about the source, the time, and the description of it. By clicking the Reset
button all exceptions are reset, preconditioned the cause of the exception has been cleared before.

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Glossary
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Glossary

A
application
A program including configuration data, symbols, and documentation.

C
configuration
The arrangement and interconnection of hardware components within a system and the hardware
and software parameters that determine the operating characteristics of the system.
controller
Automates industrial processes (also known as programmable logic controller or programmable
controller).

E
Ethernet
A physical and data link layer technology for LANs, also known as IEE 802.3.
Ethernet is the most widely spread technology for local networks. Each PacDrive controller has an
Ethernet port. The Ethernet standard defines layer 1 and 2 of the communication. Above the
Ethernet, there are many different network protocols but only IP is used.
EtherNet/IP
(Ethernet industrial protocol) An open communications protocol for manufacturing automation
solutions in industrial systems. EtherNet/IP is in a family of networks that implement the common
industrial protocol at its upper layers. The supporting organization (ODVA) specifies EtherNet/IP
to accomplish global adaptability and media independence.
expansion bus
An electronic communication bus between expansion I/O modules and a controller.

F
function block
A programming unit that has 1 or more inputs and returns 1 or more outputs. FBs are called through
an instance (function block copy with dedicated name and variables) and each instance has a
persistent state (outputs and internal variables) from 1 call to the other.
Examples: timers, counters

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Glossary

I
I/O
(input/output)

M
MAST
A processor task that is run through its programming software. The MAST task has 2 sections:
 IN: Inputs are copied to the IN section before execution of the MAST task.
 OUT: Outputs are copied to the OUT section after execution of the MAST task.

P
PLCopen
For more information, refer to http://www.plcopen.org/.
program
The component of an application that consists of compiled source code capable of being installed
in the memory of a logic controller.

T
task
A group of sections and subroutines, executed cyclically or periodically for the MAST task or
periodically for the FAST task.
A task possesses a level of priority and is linked to inputs and outputs of the controller. These I/O
are refreshed in relation to the task.
A controller can have several tasks.

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Index
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Index

A
AltivarPLCopenEtherNetIPExample
example guide, 9
application examples
Altivar, 15
GMC Independent PLCopen MC library,
15

E
examples
AltivarPLCopenEtherNetIPExample, 9

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