PROFINET V15.1

Insert Axis reference data CPU1500_BM_AXIS_REF from library BM_PROFINET_TIA_14bd10 into the PLC data type and insert data block BM into the program block.

Double-click at the function module BM and enter the necessary axis area, parameter HW address and first parameter HW identifier.

In the "Axis" with data type [ARRAY[x..y]] of CPU1500_BM_AXIS_REF, motion control axis area is entered under the "Array Boundaries".

Figure 1: Slave axis setting

Under Motion Control Axis Number AXIS[] → BM_Station, the setpoint parameter Hardware ID (HW ID) of the bmaXX device is entered first.

The "BM_Station" defines the controller axis number and the Profinet slave identifier, the type of "BM_Station" is a DWORD (DW#16#HW_LW), (HW: high word , LW: low word).

Figure 2: Hardware configuration of CPU1500 (1st setpoint parameter with HW-identifier of 260) with a bmaXX dual axis unit

Figure 3: bmaXX Units Dual Axis RT Parameter Addressing of CPU1500

Figure 6: Process image of RT Bus System

Figure 7: Parameter HW ID

Slot no.1 : Param 108.1 : Control word 1_1 for axis 1

Slot no.2 : Param 108.1 : Control word1_2 for axis 2

Slot no.3 : Param 108.5 : Target angle_1 for axis 1

Slot no.4 : Param 108.5 : Target angle_2 for axis 2

Insert parameters in sequence as actual values from hardware catalogue of Baumüller module double axis

Slot No. 17 : Parameter 108.3 : Status word1_1 for axis 1

Slot No. 18 : Parameter 108.3 : Status word 1_2 for axis 2

Slot No. 19 : Parameter 109.2 : Actual mode_1 for axis 1

Slot No. 20 : Parameter 109.2 : Actual mode_2 for axis 2

Slot No. 21 : Param 18.55 : Position actual value angle_1 for axis 1

Slot No. 22: Param 18.55 : Position actual value Angle_2 for axis 2

Figure 8: bmaXX devices dual axis IRT parameter addressing of CPU1500

All parameters of double axis number 1 must be set under Properties → General → Assembly parameters, see Figure 4.

Figure 8: Process image of IRT Bus System

Step 1:

Open the function module BM and set number 1..2 at array limits for motion control axis number 1 and 2

Step 2:

Activate ADDR parameter range under Axis[1] and Axis[2]

Step 3:

Set double axis number 1 as motion control axis 1 and double axis number 2 as motion control axis 2 and Open bmaXX device parameter window set under Devices&Networks → Device overview.

Step 4:

Read the hardware identification of the bmaXX unit from the 1st setpoint value or Param 108.1 Control word 1_1 under Properties → General → HW identification.

HW-Identifier = 258 / 0x102

Step 5:

Sort in all set parameters and start address for motion control axis number 1 and axis 2.

All parameters for motion control axis number 1

Setpoint

Param 108.1: Control word 1_1 and start address: 34

Param 108.5: Target angle_1 and start address: 38

Actual value

Param 108.3: Status word1_1 and start address: 34

Param 109.2: Actual mode_1 and start address: 134

Param 18.55: Position actual value Angle_1 and start address: 38

All parameters for motion control axis number 2

Setpoint

Param 108.1: Control word1_2 and start address: 36

Param 108.5: Target angle_2 and start address: 42

Actual value

Param 108.3: Status word1_2 and start address: 34

Param 109.2: Actual mode_2 and start address: 136

Param 18.55: Position actual value Angle_2 and start address: 42

Step 6:

Enter hardware identifier at BM_Station for motion control axis number 1 and 2

Axis [1]: BM_Station = 0x1000_0102

Axis [2]: BM_Station = 0x2000_0102

Step 7:

Enter parameter adress in the function module BM

For AXIS[1]:

Setpoint adress:

PA_CONTROL_WORD = 34

PA_ANGLE_SET_VALUE = 38

Actual value adress:

PE_STATUS_WORD = 34

PE_OPERATION_ACT_MODE = 134

PE_ANGE_ACT_VALUE = 38

For AXIS[2]:

Setpoint adress:

PA_CONTROL_WORD = 36

PA_ANGLE_SET_VALUE = 42

Actual value adress:

PE_STATUS_WORD = 36

PE_OPERATION_ACT_MODE = 136

PE_ANGE_ACT_VALUE = 42

Back to the content of the library

The "BM_FindNotchPosFARS" function carries out a notch position search (parameter 127.008.0.0) with the "fixed current feed angle and rotating shaft"; the axis must be freely movable; after measuring successfully the redetermined notch position is displayed.

The redetermined value already is valid in the RAM controller; a takeover into the controller flash can be made with the BM_DataSetHandling class.

Further information referring to the notch position search is to be found in the "Parameter manual of the basic unit bmaXX 5000” chapter 3.9.8

The function "BM_FindNotchPosInjection" carries out a notch position search (parameter 127.008.00) by the injection processing; it is not required that the axis is freely movable in order to carry out this measurement; after measuring successfully the redetermined notch position is displayed.

The redetermined value already is valid in the RAM controller. A takeover into the controller flash can be made with the BM_DataSetHandling.

Further information referring to the notch position search is to be found in the "Parameter manual of the basic unit bmaXX 5000" chapter 3.9.8.

The "BM_FindNotchPosRAFS" function carries out a notch position search (parameter 127.008.0.0) with the "standing wave and variable current feed angle" mode. The axis must not be freely movable during this measuring; after measuring successfully the redetermined notch position is displayed.

The redetermined value already is valid in the RAM controller, a takeover into the controller flash can be made with the BM_DataSetHandling class.

Further information referring to the notch position search is to be found in the "Parameter manual of the basic unit bmaXX 5000" chapter 3.9.8

The Motion Control FC BM_Home references the drive axis using the method set at the drive. The setting of the method at the drive can be made via Prodrive and/or in the program using the BM_HomeInit, BM_HomeInitBlock Baumueller addition-FCs.

The Motion Control command BM_HomeInit is an extension of the Motion Control standard and initializes the homing method "Homing in the travelling distance" for the Motion Control command BM_Home.

The Motion Control commando BM_HomeInitBlock is an extension of the Motion Control standard and initializes the homing method "Homing in the travelling distance" for the Motion Control command BM_Home.

This functional module for Motion Control IRT OB61 is used to generate set values of a virtual master axis. The functional module converts one position in each call-up cycle (OB61-task) according to the specifications of velocity and acceleration.

The Motion Control command BM_MoveAbsolute carries out a controlled movement to the specified position.

BM_MoveAbsoluteInit reads the mode (parameter 110.2) of the controller in order to forward a setting information of this controller parameter to BM_MoveAbsolute, so that this parameter setting does not drop away during the activation of BM_MoveRelative.

The motion control function module BM_MovePos2 executes a controlled movement. The new position setpoint is achieved by the set positioning set of the position target (either Relative or Absolute)

The Motion Control command BM_MoveRelative carries out a controlled movement around the specified relative position at the starting time.

The BM_MoveRelativeInit reads the controller mode (parameter 118.2), to transmit a setting information of this controller parameter to BM_MoveRelative, so that this parameter setting is not dropped at activated BM_MoveRelative.

The FC BM_Power_Com_CPU1500 switches the BM_Power_DA_CPU1500, BM_Power_EA_CPU1500 or BM51_Power_CPU1500 on together as a Motion Control Command communication.

The function module BM_Power_DA_CPU1500 switches the operational readiness of the connected Baumüller double-axis drive with BM_Power_Com_CPU1500, taking into account the device-side wiring of pulse enable and quick stop.

Before the call, the drive must be fully commissioned, taking into account all safety regulations.

With "BM".AXIS[x].DRIVE.POWER.NoSetHomingMode := TRUE, the operating mode of homing can be deactivated when calling up Power On.

The FC BM_Power_EA_CPU1500 switches the operational readiness of the connected Baumüller single-axis drive with BM_Power_Com_CPU1500, taking into account the device-side wiring of pulse enable and quick stop.

Before the call, the drive must be fully commissioned, taking into account all safety regulations.

With "BM".AXIS[x].DRIVE.POWER.NoSetHomingMode := TRUE, the operating mode of homing can be deactivated when calling up Power On.

The BM Motion Control FC BM_QuickStop stops the drive axis from all drive states with a defined quickstop (parameter 110.008) ramp in the controller and the drive is stopped then the drive remains in the "drive lock".

The function FC BM_READ can be used to read a parameter by demand data communication of a bmaXX controller

This FC BM_ReadAxisError for BM Motion Control is used to read the axis errors.

This function is used for BM Motion Control to read the extended axis status.

The FC BM_ReadStatus provides the drive status of the BM Motion Control axis.

The processing of BM Motion Control Motion commands cannot be made from the errorstop status and requires the availability of the axis via BM_Power.

A reset is accomplished via the Motion Control FC BM_Reset to switch the drive from the locking state Errorstop to standstill. A potentially existing error source at first must be deleted and all the relevant error states must be reset by BM_Reset.

Attention: 
The locking status Errorstop is taken over after every switch-off of the availability of BM_Power (Enable = FALSE or quickstop) or if drive errors are present. Present error entries of the drive can be reset with this FC.

Movement commands of synchronized motion in the status Stopping is not possible.

Movement commands of synchronized motion in the status Stopping is not possible.

BM_SyncOut separates the coupling of the coupled axis of BM_SyncIn.

The BM Motion Control BM_MoveVelocity command implements an endless movement by a specified speed.

The BM Motion Control command BM_Velocity2 sets an endless movement with a cyclical data data write in speed control.

Das BM_VelocityInit reads the mode (parameter 110.2) of the controller in order to forward a setting information of this controller parameter to BM_Velocity, so that this parameter setting does not drop away during the activation of BM-Velocity.

The function FC BM_WRITE can be used to write a parameter by service data communication to the bmaXX controller.

The function module BM51_Power activates the motion control availability of the connected mains inverter (NWR) considering the account the device-side wiring of pulse release and fast discharge resistor.

Attention: 
Before calling the drive must have been taken completely into operation considering all the safety regulations.