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Twido Extreme PLC, Magelis, Advantys FTB, Ositrack and Preventa

System User Guide [source code]

3300

4139

.00

MAY 2007

Tw ido Extreme PLC Magelis Advantys FTB Ositrack & Preventa _EN.doc

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Contents

Application Source Code .......................................................................................................................4 Typical Applications...............................................................................................................................5 System.........................................................................................................................................................6

Architecture .........................................................................................................................................6 Installation..........................................................................................................................................10

Hardware ..............................................................................................................................................11 Software ...............................................................................................................................................22 Communication ....................................................................................................................................23

Implementation .................................................................................................................................30 Communication ....................................................................................................................................31 HMI .......................................................................................................................................................34 PLC.......................................................................................................................................................55 Devices.................................................................................................................................................78

Ositrack Compact Station ................................................................................................................78 Preventa XPS-MP.............................................................................................................................82

Performance .........................................................................................................................................89 Appendix...................................................................................................................................................90

Detailed Component List................................................................................................................90 Component Protection Classes....................................................................................................94

Temperature Ranges ............................................................................................................................95

Component Features.......................................................................................................................96 Contact......................................................................................................................................................98

Introduction This document is intended to provide a quick introduction to the described System.

It is not intended to replace any specific product documentation. On the contrary, it offers additional information to the product documentation, for installing, configuring and starting up the system. A detailed functional description or the specification for a specific user application is not part of this document. Nevertheless, the document outlines some typical applications where the system might be implemented.


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Abbreviations

Word / Expression Signification AC Alternating Current Advantys SE product name for a family of I/O modules Altivar (ATV) SE product name for a family of VSDs CANopen Name for a communications machine bus system CB Circuit Breaker CoDeSys Hardware-independent IEC 61131-3 programming software ConneXium SE product name for a Family of Transparent Factory devices DC Direct Current EDS Electronic Data Sheet E-OFF, E-STOP Emergency Off switch Harmony SE product name for a family of switches and indicators HMI Human Machine Interface I/O Input/Output IclA (ICLA) SE product name for a compact drive Lexium/Lexium05/LXM SE product name for a family of servo-drives M340 / Modicon M340 SE product name for a mid range PLC family Magelis SE product name for a family of HMI-Devices MFB PLCopen Motion Function Block MB - SL SE name for a serial Modbus communications protocol Micro SE product name for a middle range family of PLCs NIM SE product name for a Network Interface Module Osiswitch SE product name for a family of position switches Ositrack SE product name for an Identification system PC Personal Computer PDO Process Data Object (CANopen) Phaseo SE product name for a family of power supplies PLC Programmable Logic Computer PowerSuite An SE software product for configuring drives Premium SE product name for a middle range family of PLCs Preventa SE product name for a family of safety devices PS1131 (CoDeSys) SE Product name for PLC programming software with CoDeSys PS Power Supply RTU Remote Terminal Unit RFID Radio Frequency IDentification RPDO Receive Process Data Object (CANopen) SE Schneider Electric SDO Service Data Object SyCon SE product name of a Field bus programming software


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Word / Expression Signification

Telefast SE product name for a series of distributed I/O devices TesysU SE product name for a decentralized I/O System TPDO Transmit Process Data Object (CANopen) Twido SE product name of a basic range family of PLCs TwidoSoft SE product name for a PLC programming software TwidoSuite SE product name for a PLC programming software Unity (Pro) SE product name for a PLC programming software Vijeo Designer An SE software product for programming Magelis HMI devices VSD Variable Speed Drive WxHxD Dimensions : Width, Height and Depth XBT-L1000 An SE software product for programming Magelis HMI devices Zelio SE product name for a low range PLC family ZelioSoft SE product name for a PLC programming software


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Application Source Code

Introduction Examples of the source code used to attain the system function as described in this

document can be downloaded from our website under this link. The example source code is in the form of configuration, application and import files. Use the appropriate software tool to either open or import the files.

Extension File Type Software Tool Required AIW Configuration file Advantys Configuration Software CNF Configuration File SyCon CO CANopen definitions file SyCon CSV Comma Separated Values, Spreadsheet Twidosoft CTX Unity DCF Device Configuration File Advantys Configuration Software

DIB Device Independent Bitmap SyCon DOC Document file Microsoft Word DOP Project File Magelis XBTL 1000 EDS Electronic Data Sheet – Device Definition Industrial standard FEF Export file PL7 GSD EDS file (Geraete Stamm Datei) Profibus ISL Island file, project file Advantys Configuration Software PB Profibus definitions file SyCon PDF Portable Document Format - document Adobe Acrobat PRO Project file PS1131 - CoDeSys PS2 Export file PowerSuite RTF Rich Text File - document Microsoft Word SPA Schneider Product Archive TwidoSuite STA Project Archive UnityPro STU Project file UnityPro STX Project file PL7 TLX Project file Twinline Control Tool TWD Project file TwidoSoft VDZ Project file Vijeo Designer XEF Export file UnityPro XPR Project file TwidoSuite ZM2 Project file ZelioSoft

http://the-village.schneider-electric.com/Architectures_Systems/publication_as.nsf/FolderLien/155596667E4DA272C12570D7003AA186?OpenDocument


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Typical Applications

Introduction Here you will find a list of the typical applications, and their market segments, where this system or subsystem can be applied:

Municipal vehicles

Special vehicles for container waste collection Industry Machines or machine components for use in areas with high ambient

temperatures Machines or machine components in areas that require a high degree of

protection

Application Description Image Municipal refuse collection vehicles

Using this application, the process of emptying waste containers during street collections can be automated. RFID readers scan the refuse containers and collect data for centralized processing at a later date. Additionally, the on-board computer outputs key data to a separate display. An integrated camera gives a view of the rear working area.


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System

Introduction The system chapter describes the architecture, the dimensions, the quantities and different

types of components used within this system.

Architecture

General The main elements of this architecture are: a Twido Extreme controller and an IP67 Twido

CPU, which is equipped with integrated I/Os and has three communication ports. The Modbus port establishes the connection to both the HMI and the Ositrack identification system. The Modbus port also acts as an interface for programming the controller. The CANopen port allows remote information to be detected and distributed. Here, it is implemented as an extension of the digital and analog I/O level. This architecture uses IP67 FTB-type modules, which transmit the signals from the Osisonic, Osiprox and Nautilus sensors to the Extreme controller. The second CAN interface relies on a CANJ1939 protocol and establishes the connection to the vehicle. Via this connection, data can be transmitted to the on-board computer or information from the vehicle’s on-board electronics can be integrated for the purpose of displaying it on the HMI Magelis graphics display, for example. Safety components are also used within this architecture to detect an emergency-off event, or a Preventa evaluation unit can be used to monitor that the vehicle cab is safely locked.

Layout Bus Structure


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Layout View of Devices


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Components Hardware:

Vario master switch Multi 9 line circuit breakers Phaseo 12 V and 24 V power supplies (DC) Multifunctional Preventa XPS-MP safety relay module Preventa XCS non-contact safety switches XCSD safety limit switches 24V coupling relays of type ABS2E RPF2-type DC power relay Twido Extreme PLC, TWDLEDCK1-type CANopen IP67 Advantys FTB modules Ositrack XGSC RFID compact station Magelis XBT-GT 4000 series graphic HMI Third-party PAL video camera Harmony XVBL compact signal station Hanging button with Harmony XAC4 emergency off switch Nautilus XMLE-type pushbutton Osiprox inductive and capacitive proximity switches Osisonic ultrasonic sensors

Software:

TwidoSuite Version 1.20.4 Advantys Lite Version 3.1 Vijeo Designer V4.42

Quantities of Components

For a complete and detailed list of components, the quantities required and the order numbers, please refer to the components list at the rear of this document.

Degree of Protection

Not all the components in this configuration are designed to withstand the same environmental conditions. Some components may need additional protection, in the form of housings, depending on the environment in which you intend to use them. For environmental details of the individual components please refer to the list in the appendix of this document and the appropriate user manual.

Mains voltage 230V AC Power requirement ~ 0,2 kW Drive power rating --- Motor brake --- Connection 3x 2,5mm² (L1, N, PE)

Technical Data

Safety Level Cat. 3 (optional)


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Safety Notice The standard and level of safety you apply to your application is determined by your

system design and the overall extent to which your system may be a hazard to people and machinery. As there are no moving mechanical parts in this application example, category 3 (according to EN954-1) has been selected as an optional safety level. Whether or not the above safety category should be applied to your system should be ascertained with a proper risk analysis. This document is not comprehensive for any systems using the given architecture and does not absolve users of their duty to uphold the safety requirements with respect to the equipment used in their systems or of compliance with either national or international safety laws and regulations

Dimensions This architecture example shows a main area of application, where the devices are

integrated into a vehicle. For this reason, the devices are individually allocated to different points around the vehicle, where there is sufficient room for installation and wiring. In the photos of this architecture on the following page, the components are installed in a control cubicle measuring 800 x 1200 x 300 (W x H x D).


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Installation

Introduction This chapter describes the steps necessary to set up the hardware and configure the

software required to fulfill the described function of the application.

Assembly


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Hardware

Vario emergency off master switch (housing type)

VCF02GE

(Red/yellow switch)

Hanging button housing with

emergency off button

XACA4713

Extension contact for 2 channel Emergency-

OFF switch

ZEN2BE102

1 x E-OFF

4 x switch (2 x mechanical

locking)

(ZEN2BE102)

Preventa multifunction

emergency off switching device

XPSMP11123


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Preventa safety limit

switch

XCSD3918P20

Phaseo 12 V power

supply

ABL7RM1202

Phaseo 24 V power supply

ABL7RE2405

fused circuit breakers

Multi 9

micro-fuse holder (terminal format)

AB1FUSE435U5X


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Twido IP67

Extreme controller

TWDLEDCK1

Twido IP67

Extreme controller

TWDLEDCK1

(digital inputs)


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Twido IP67 Extreme controller

TWDLEDCK1

(analog inputs and

pulse-width modulation)


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Twido IP67

Extreme controller

TWDLEDCK1

(digital outputs)

Number of digital

300 mA outputs varies:

24 V: 6 out 12 V: 14 out


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IP67 FTB module

FTB1CN08E08S

8 IN/diagnostic 8 OUT

7/8" connection for the power supply

M12 bus connection

M12 assignment for sensors/actuators


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Nautilus pushbutton

XMLE001U1C41

Power relay (30 A)

RPF2ABD

Osisonic ultrasonic

sensor

XX518A3PAM12


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Teach adapter for ultrasonic sensor

XXZPB100

Compact signal station

XVBL05

Ositrack tap-off box

TCSAMT31FP

"OUT" port

"IN" port


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Ositrack compact

station

XGCS4901201

Ositrack RFID tag

XGHB444345

XGHB221346

XGHB211345

XGHB444345 (3408 bytes)

XGHB221346

(256 bytes)

XGHB211345 (256 bytes)

Osiprox proximity switch (inductive)

XS1N18PA349D

Osiprox proximity switch (capacitive)

XT1M18PA372

Modbus cable

TCSMCN1M1F10

Magelis operator terminal

XBTGT4340


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Magelis operator

terminal

XBTGT4340


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Selection and Press

buttons with illuminated indicator

Harmony Style 5

XB5

(Conrad Electronic)

CMOS-colour camera-module with Adapter

and fixing

15 03 48 15 03 61 15 03 75


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Software

General Three software tools are required to implement the application.

The PLC is programmed using the TwidoSuite programming tool, which, in addition to the application program code, also provides the configuration for the interfaces (Modbus, CANopen, and CANJ1939). The IP67 FTB-type modules are configured using the Advantys Lite configuration tool. This tool is also used to generate the EDS (Electronic Data Sheet) files required for CANopen; these are read in by TwidoSuite. The HMI application on the XBT-GT 4340 Magelis operator terminal is configured using Vijeo Designer software. To use the software packages, your PC must have the appropriate Microsoft Windows operating system installed: Windows 2000 or Windows XP professional

Der für die jeweilige Software voreingestellte Installationspfad auf der Festplatte lautet im einzelnen: TwidoSuite

C:\Program Files\Schneider Electric\TwidoSuite Advantys Tool Lite

C:\Program Files\Schneider Electric\Advantys Vijeo Designer

C:\Program Files \Schneider Electric\VijeoDesigner

TwidoSuite V1.20.4

Advantys Tool Lite V3.1

Vijeo Designer


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Communication

General The following methods of communication are used between individual devices:

CANopen TCP/IP (Modbus TCP) CANopen is used as a machine bus for the communication between the Twido Extreme controller and the FTB modules. Modbus serves for the data exchange between the Twido Extreme controller, the Magelis XBT-GT (HMI) and the Ositrack compact station (the RFID identification system being used here). The Twido acts as the Modbus master. Additional connection cables are required between the PC and each of the devices for programming and configuration purposes.

PC <> PLC

There are various cable connection options for transferring data between the PC and the PLC. In our case, a USB connection involving the programming adapter TSXCUSB485 (shown below) and a suitable programming cable TSXCRJMD25 is used. Depending on which cable connector is available on the Twido, it may also be possible to use other cables (e.g., Bluetooth adapter, RS232 to RS485 converter). These are not explained in further detail here.

USB programming

adapter

TSXCUSB485

(with programming cable TSXCRJMD25)

Communication switch setting for operation with the Twido

Extreme controller: 0 TER MULTI

Programming cable

TSXCRJMD25

(with USB adapter

TSXCUSB485)


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HMI <> PC

Communication cable XBTZGZ935 is used to exchange data between the HMI XBTGT4340 and the PC for programming purposes.

Data

transfer cable

XBTZG935

CANopen Data exchange between the individual bus nodes is made possible in part by pre-configured and partly by tailor-made cables made by the customer himself. The necessary components are outlined below.

CANopen cable TSXCANCD50

Flexible cable for the

CANJ1939 and CANopen wiring

CANopen connector

TSX CAN KCDF 90TP This connector is used on the pre-assembled Twido Extreme cable.


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CANopen connector

TSX CAN KCDF 90TP

A connector must be removed from cable

FTXCN3210 so that the ends can be connected

to the CANopen connector. Connectors

with or without a programming interface

can be connected to one another: this establishes

a simple connection.

CANopen connector

assignment

TSX CAN KCDF xxxx


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CANopen bus

connection cable

FTXCN3210

Serial connection of FTB modules starting from the VW3 CAN TDM4

CANopen tap.

PIN Signal Color 1 Shld - 2 V+ Red

3 GND Black 4 CAN_H White 5 CAN_L Blue

Power supply connection cable

FTXDP2210

Looping of power supply from one FTB module to

the next.

PIN Signal Wire 1 0 V 1 2 0 V 2

3 PE Green/yellow 4 +24 V DI 3 5 +24 V DO 4

Advantys FTB CANopen terminating

resistor

FTXCNTL12

Connect to BUS OUT connector on final FTB

module.


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Modbus Here, data exchange between the PLC and HMI, and between the PLC and the Ositrack RFID compact station, is realized via Modbus. These components are wired using preassembled or partly preassembled cables, which are described below (relevant parts and part numbers are also listed).

"Compact station" port

"24V" port

Ositrack tap-off box

TCSAMT31FP

With this tap-off box,

3 compact stations can be operated at the same

time.

"IN" port

"OUT" port

Ositrack compact station

XGCS4901201


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Pre-assembled Modbus cable

10 m long

TCSMCN1M1F10

Modbus T distributor

VW3A8306TF10

The Modbus T distributor is used to operate the HMI and

Modbus tap-off box with the Twido Extreme

controller simultaneously.

Programming Interface

8-pole

Mini-DIN

(Conrad Electronic, or similar)

Advantys FTB Modbus terminating

resistor

FTXCNTL12

The bus must be terminated at the OUT port of the tap-off box


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Modbus Setup

The wiring diagram on the left shows the

Modbus setup with wiring and devices


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Implementation

Introduction The implementation chapter describes all the steps necessary to initialize, to configure, to

program and start-up the system to achieve the application functions as listed below.

Function

Instructions for switching on and functional description 1. Switch on the master switch and all fuses 2. set the rotary switch to “ON” 3. Wait until the Magelis panel is ready for operation 4. On the Magelis HMI, select the “Error Log” screen 5. Acknowledge both safety circuits 6. If no error messages are pending, the system is ready.

Functional Layout


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Communication

Introduction This chapter describes the data passed via the communications bus (e.g. Modbus

Plus or TCP/IP) that is not bound directly with digital or analog hardware. The list contains: The device links Direction of data flow symbolic name and Bus address of the device concerned.

Device Links

The Modbus and CANopen bus systems are used in this application. The devices below are networked via CANopen: - One Twido PLC, bus address 127 (fixed setting) - Two Advantys FTB modules, bus addresses 1 and 2 The Macro function is used with Modbus. This supports data transfer (which is based on word transfer in this case) in both directions. The macro uses temporary words (such as %MW107 - C_WRNW_VAL1_0). However, the actual user data is assigned to a separate area of the PLC, which is described below in terms of how the device data interrelates. Three devices are interconnected via Modbus: - Twido Extreme controller, as the master - Magelis XBT-GT panel, as a slave with bus address 2 (macro instance 0) - Ositrack compact station, as a slave with bus address 3 (macro instance 1 + 2)

Datalink Twido-PLC (CANopen-Master, #127) FTB-Module #1 (CANopen-Slave, #1) FTB1 <> PLC Data Direction FTB 1 -> PLC Address Name Index Designation %IWC1.0.0 FTB_ADR1_IN1 6000 sub 01 Read State 8 Input Lines Data Direction PLC -> FTB 1 Address Name Index Designation %QWC1.0.0 FTB_ADR1_OUT1 6200 sub 01 Write Output 8 bits

Datalink Twido-PLC (CANopen-Master, #127) FTB-Module #2 (CANopen-Slave, #2) FTB2 <> PLC Data Direction FTB 1 -> PLC Address Name Index Designation %IWC1.1.0 FTB_ADR2_IN1 6000 sub 01 Read State 8 Input Lines Data Direction PLC -> FTB 1 Address Name Index Designation %QWC1.1.0 FTB_ADR2_OUT1 6200 sub 01 Write Output 8 bits


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Datalink Twido-PLC (Modbus-Master) HMI (Modbus Slave #2) Twido <> HMI Data Direction HMI -> PLC (Macro Instance 0) Address Name Address Designation %MW21 HMI_R_CONTR_01 %MW1 Control_Word_01 %MW22 HMI_R_CONTR_02 %MW2 Control_Word_02 %MW23 HMI_R_TAG_WR_01 %MW3 Ositrack_Write_Data_Word01 %MW24 HMI_R_TAG_WR_02 %MW4 Ositrack_Write_Data_Word02 %MW25 HMI_R_TAG_WR_03 %MW5 Ositrack_Write_Data_Word03 %MW26 HMI_R_TAG_WR_04 %MW6 Ositrack_Write_Data_Word04 %MW27 HMI_R_TAG_WR_04 %MW7 Ositrack_Write_Data_Word05 Data Direction PLC -> HMI Address Name Address Designation %MW31 HMI_W_STAT_01 %MW11 Status_Word_01 %MW32 HMI_W_STAT_02 %MW12 Status_Word_02 %MW33 HMI_W_TAG_RD_01 %MW13 Ositrack_Read_Data_Word01 %MW34 HMI_W_TAG_RD_02 %MW14 Ositrack_Read_Data_Word02 %MW35 HMI_W_TAG_RD_03 %MW15 Ositrack_Read_Data_Word03 %MW36 HMI_W_TAG_RD_04 %MW16 Ositrack_Read_Data_Word04 %MW37 HMI_W_TAG_RD_04 %MW16 Ositrack_Read_Data_Word05 %MW41 HMI_W_SYS_RD_01 %MW20 Ositrack_Sys_Word01 %MW42 HMI_W_SYS_RD_02 %MW21 Ositrack_Sys_Word02 %MW43 HMI_W_SYS_RD_03 %MW22 Ositrack_Sys_Word03 %MW44 HMI_W_SYS_RD_04 %MW23 Ositrack_Sys_Word04

Datalink Twido-PLC (Modbus-Master) Ositrack (Modbus Slave #2) Twido <> Ositrack Data Direction Ositrack RFID Compact Station -> PLC (Macro Instance 1) Address Name Address Designation %MW51 RFID_R_DATA_01 %MW1 Tag Data Word 01 %MW52 RFID_R_DATA_02 %MW2 Tag Data Word 02 %MW53 RFID_R_DATA_03 %MW3 Tag Data Word 03 %MW54 RFID_R_DATA_04 %MW4 Tag Data Word 04 %MW55 RFID_R_DATA_05 %MW5 Tag Data Word 05 Data Direction SPS -> Ositrack RFID Compact Station Address Name Address Designation %MW57 RFID_W_DATA_01 %MW1 Tag Data Word 01 %MW58 RFID_W_DATA_02 %MW2 Tag Data Word 02 %MW59 RFID_W_DATA_03 %MW3 Tag Data Word 03 %MW60 RFID_W_DATA_04 %MW4 Tag Data Word 04 %MW61 RFID_W_DATA_05 %MW5 Tag Data Word 05

Datalink Twido-PLC (Modbus-Master) Ositrack (Modbus Slave #2) Twido <- Ositrack Data Direction Ositrack RFID Compact Station -> PLC (Macro Instance 2) Address Name Address Designation %MW51 RFID_R_SYS_01 %MW32768 System word 8000 hex %MW52 RFID_R_SYS_02 %MW32769 System word 8001 hex %MW53 RFID_R_SYS_03 %MW32770 System word 8002 hex %MW54 RFID_R_SYS_04 %MW32771 System word 8003 hex


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Various hardware addresses, as well as flags and flag words, are used in the PLC example program. To facilitate orientation, an overview of the addresses used appears below in list format.

Type Address Comment

Digital inputs %Ir.x Digital inputs are specified on a hardware basis: r indicates the rack number; x indicates the input number. Example: Emergency off feedback %I0.0

Digital outputs %Qr.x Digital outputs are specified on a hardware basis: r indicates the rack number, m the slot and x the output number. Example: Emergency off acknowledgement button %Q0.0

Analog inputs %IWr.c Analog inputs are specified on a hardware basis: r indicates the rack number, m the slot and c the channel number. Example: Emergency off feedback %IW0.3.0.

CANopen inputs %IWC1.0.0 to %IWC1.1.0

CANopen inputs are written to input words; individual bits can be addressed via %IWCr.m.x. Example: Inputs of the first FTB module are written to %IWC1.0.0

CANopen outputs %QWC1.0.0 to %QWC1.1.0

CANopen outputs are written to output words; individual bits can be addressed via %QWCr.m.x. Example: Outputs of FTB module 2 are written to QWC1.1.0

General Addressing

Data from/to Modbus nodes

%MWx Data for/ from the HMI and Ositrack is written to flag words. Individual bits are addressed using standard %MWi:Xj syntax, where the bit addressing is represented by j = 0 – 15. For the Modbus requests that apply in this case, only complete words are transferred; bits do not get distributed until the end devices are reached.


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HMI

Introduction Setting up the HMI is done as follows:

Create a new project Specify the hardware Add the new driver Specify the communication settings Define download attributes Create new variables Set up a new screen Example of numeric display Integrate the alarm logger Create screen for camera view Check the project and download it Application summary

Desktop 1 The Vijeo Designer

environment consists of the following elements:

1 - Navigator 2 - Info display 3 - Inspector 4 - Data list 5 - Feedback area 6 - Toolbox


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1 When Vijeo Designer starts up, a selection window appears offering you a variety of options.

Select Create new Project and click Next>.

2 Enter a project name in the Project Name field.

If applicable, add a description or comment in the Description or Comment field.

Click Next> to continue.

Creating a New Project

3 Next, select the target device used and enter a name.

Example project:

Target Name: Example Target Type:

XBTGT 4000 Series Model: XBTGT4340 Click Next> to continue.

Continued on next page


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4 In order to use the device's

Ethernet interface (e.g., for parameterization purposes), you must enter the IP address, subnet mask and, if applicable, the gateway.

The settings to be applied in our example are:

IP Address: 192.168.20.201

Subnet Mask: 255.255.252.0

Default Gateway: 0.0.0.0

Click Next> to continue.

5 In order to be able to exchange data with other devices, the Magelis HMI requires a communication driver.

Click Add to add a new driver.

Creating a New Project Contd.

6 Start by selecting Schneider Electric Industries SAS from the list under Manufacturer.

You can then select the Modbus Slave under Driver and Modbus Slave (RTU) under Equipment, for communication with the Twido Extreme controller.

Click OK to confirm the settings as shown opposite.


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7 Click Finish to complete the basic settings for this new project.

1 Once you have created the

project, Vijeo Designer will display the workspace described previously with an empty edit screen on the right-hand side.

Communication Settings

2 For communication with the higher-level control system (Twido Extreme controller), the Modbus Slave (RTU) driver is already integrated.

ModbusSlaveRTU01 [COM1] can be found at the bottom of the navigator.

Right-click on it and select Configuration… from the pop-up menu that appears.


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3 To be able to communicate with the master control system (Twido Extreme controller), the following changes must be made:

COM Port: COM2

Slave Equipment Address: 2

Enable IEC61131

For the Modbus network, the default settings can be left unchanged:

transmission speed : 19200

Parity : Even

Stop Bit : 1

Click OK to confirm the changes.

4 Once the changes have been made, a dialog box will appear asking you to confirm that all addresses within this project should be converted to IEC 61131 format. Click Yes to confirm the message.

5 Finally, change the name of the equipment involved in data exchange.

To do this, right-click ModbusSlaveRTU01 again.

This time, select Rename from the pop-up menu that appears.


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6 In this example, Twido_Extreme_Controller is selected as the name of the higher-level Modbus master control system.


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Changing the Download Properties

1 On the basis of the changes displayed on the left-hand side, you can determine the route that Vijeo Designer should use to communicate with the Magelis XBT-GT device.

To make these settings, you must navigate to Example (directly above Graphical Panels) on the Project tab.

In the Property Inspector window below this, a drop-down list containing the available connections can be accessed under the attribute Download.

For the Magelis being used, there are three different download options.

From this list, select USB.


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Configuring the Data to be Transferred

1 The number of words to be transferred to the master can be reduced or increased with the aid of the Modbus slave configuration.

To view the properties of this driver, right-click

ModbusSlave01

in the navigator and then select Configuration from the pop-up menu that appears.

2 The screen opposite appears; it

is possible to make changes here as well. The default settings will be used initially; however, you can modify these at any point to suit your requirements (e.g., if there are more than 100 words in the data to be transferred).

Creating Variables

1 To create new variables, select the Variables tab in the Navigator.

Right-click the project name (Example) to access a pop-up menu, and select:

New VariableNew.


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2 To create variables, the following information must be entered:

Variable Name Data Type Data Source Device Address

The example opposite shows a binary (Discrete) variable to be read or written from an External data source, i.e., the Twido Extreme controller.

Click the button circled in the screen opposite in order to assign an address to the variable Tag_present.

3 There are two different discrete address formats: - %Mx or - %MWi:Xj To facilitate data transfer between the PLC and HMI, communication only takes place via words. The setting under Address is, therefore, %MWi:Xj, where j represents the bit position (0 – 15) within the word (i). In this example, the variable Tag_present is assigned the address %MW31:X0. Click OK to finish making your entries.


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4 The variables created are displayed in the Navigator, on the Variables tab, along with their names and addresses.


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Creating a Screen

The process for creating animations on screens will be described here using a numeric display. The functions are similar for other animation elements.

Data Display 1 Example: How to add a display

Selection via the tool bar.

Various icons and elements are available in the menu bar and the toolbox.

Select Numeric Display, for instance, in order to display data from the Ositrack RFID tags on the screen.

2 First, specify the position and size of the display panel.

3 Numeric Display Settings:

Name Data Type Variable Zero Suppress Display Digits Font (style and size) The variable to be animated can be entered directly in the edit box or browsed for by selecting the light bulb icon at the end of the line.

Click the light bulb icon to display a list of variables that are available.


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4 A variable name that has been entered but not yet defined appears in red.

Additional functions, e.g., value inversion, can be executed by clicking the calculator icon.

Enter the name of the variables in the edit box at the top, or double-click a variable in the list below to select it.

Click OK to confirm.

5 You can change other properties

of this example numerical display by, for instance, enabling entry of a new value on the Input Mode tab, and changing the settings for color, visibility, etc., on the other tabs shown.

Click OK to finish making your variable settings.


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Setting the Error Log

1 To use Vijeo Designer’s error log, first select the error light icon in the toolbar.

2 Use the mouse to shape the error log object in the workspace to the size you require.

3 Not only does the Error Log

object provide the table with the following columns:

Message Date Time State it also provides handling functions such as acknowledgement buttons and sorting options.

4 Double-clicking on the Error

Log enables you to configure other functions.

On the General tab, first select a different date format, such as dd/mm/yy.


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5 On the Messages tab, you can, for instance, select which colors are assigned to pending (Active) and acknowledged messages, and whether these are to be displayed or not.

6 The Columns tab provides even

more information, though displaying this requires space for additional columns.

7 The handling functions

mentioned above (e.g., for acknowledging individual messages) can be configured on the Buttons tab, and their layout on the screen defined.

Click OK to exit this configuration dialog box.

Creating a Video Screen

1 To be able to display pictures from the video port on the Magelis XBT-GT, you must first click the camera icon in the toolbar.


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2 Use the mouse to shape the camera object in the workspace to the size you require for the video signal.

3 Once you have established the

size, you will be asked for more information relating to the video signal.

For example, you have the option of creating a live feed of the data collected and archiving it, or of controlling the visibility and access control via variables. Click OK without making any changes.

4 As shown opposite, the camera

area will be displayed with the "test screen".


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5 In the navigator, select Example (shown opposite) and open the drop-down list next to Video in the Property Inspector.

Here, define what kind of video format your camera uses, so that the signals can be correctly analyzed and displayed.

In this example, the camera being used operates on the basis of the PAL standard.


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Once you have finished making the settings in the Property Inspector, a configuration dialog for the Video Settings will open, which allows you to make additional settings.

Simply click OK to confirm the default settings.


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1 Before it can be downloaded to

the graphics HMI, the project must first be analyzed.

To do this, select:

Build->Validate All.

The results are displayed in the Feedback Zone window.

2 If Build All is selected instead, the messages are still listed in the Feedback Zone window.

Downloading the Project

3 Select:

Build->Download All

to transfer the program to the HMI.

Before doing this ensure that the Magelis HMI is connected to the PC using cable XBTZG935 (via a USB connection).


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3 Select

Build->Validate All

to transfer the application to the connected Magelis terminal.

The configured communication method (USB) will be used.

Application Overview

1 The basic format of the example application is six different screens, which can be accessed using the buttons on the right-hand side. The current screen selection is indicated with a grey background on the button. The name of the screen also appears in the header.

Now switch to the DATE & TIME screen.

2 This screen displays a system

page that enables you to set the time and date on the panel. You can also make other settings.

Exit this screen by clicking To Run Mode.


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3 On the General Settings screen, you can select and/or display information relating to general settings.

4 Using the CAMERA AREA

screen, the image picked up by the camera can be transferred to the Magelis XBT-GT for viewing.

The purpose of this might be, for example, to provide an overview of an area behind the vehicle that cannot easily be seen.

5 The ERROR LOG display

shows all the pending errors that have been logged in the error list.

Below this display, there are two buttons that can be used to acknowledge the emergency off switching devices.


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6 The OSITRACK screen allows you to read and write to the RFID data carrier, as well as read from the compact station.

The first column displays the first five data words read from the tag. The ERASE TAG DATA button above it can be used to reset these data words to zero.

The second column allows these five words to be corrected so that they can be written to the tag using WRITE TAG DATA.

The third column consists of four system words read from the compact station (the RFID read/write station), such as the tag counter in word #2.

Above this column, it is shown whether a tag has been detected (TAG PRESENT). The data read out from the tag will only be visible if this is the case.


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PLC

Introduction The PLC chapter describes the steps required for the initialization and configuration and the

source program required to fulfill the functions.

Preconditions Before carrying out the steps described below, you must ensure the following: That the TwidoSuite programming tool is installed on your PC That the Advantys configuration tool is installed on your PC That the "Example.xar" TwidoSuite archive is available in the default directory that has

been set up (C:\Program Files\Schneider Electric\TwidoSuite\MyProjects) That Twido Extreme controller is switched on and being supplied with power That the control system and the PLC are connected via the programming adapter

(TSXCUSB485) and the programming cable (TSXPCRJMD25). Setting up the PLC is done as follows: Create a new program Exchange the controller power base Configure and add Modbus nodes Define the physical addresses Configure the CANopen network Configure the communication macro Invoke the communication macro Open the example project Download the project to the controller

Create a New Program

1 When TwidoSuite is started up for the first time, a tutorial will provide an overview of how to use the program. Removing the check mark beside Show video at startup stops the video being played every time TwidoSuite is started. You can click the cross (in the top right-hand corner) to exit the video sequence.

2 Once the software has been started up, select the first menu item: "Programming" Mode.


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3 The first time you start up the software, you will be prompted to register it. To skip this and start using the software immediately, click Later; this will allow you to use TwidoSuite for 30 days with the test license. Note: You can return to this screen later by clicking the question mark in the top right-hand corner. When you do decide to return to it, click Now and follow the instructions in the Registration Wizard.

4 To create a new project, click : Create a new project.

5 You can now enter the following

information about the project: Project Directory Author Department Index Industrial Property As well as this, you can add additional information to the project in the field at the bottom. Click Create to continue (circled).

6 The project has now been saved. On the Description tab, an image of the device configuration is displayed. In this example, no other device is integrated aside from the standard PLC.


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Exchanging the Controller Power Base

1 Select the Describe tab to specify your device configuration.

2 When a new project is created,

the controller depicted opposite will be used by default.

3 In order to use the IP67 controller

that has been assigned to this example project, navigate to the BasesExtreme folder, as shown opposite, and select the name of the controller TWDLEDCK1. Click Place and use the mouse to position your selection on the available PLC. This will allow you to use the Extreme controller.


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4 Now select the text field displayed in the image opposite and assign a name to your application. In this example, the PLC is named Example.

Configuring and Adding Modbus Nodes

1 In our example, the Modbus network is used to communicate with the Magelis HMI and the Ositrack compact station. In order for both of these devices to be addressed via Modbus, the PLC must act as the master. Move the cursor onto the connection, right-click and select Configuration.

2 In the context menu, select

- Type: Modbus - Address: Master Click OK to confirm and close this menu.

3 From the device catalog on the

right-hand side of the screen, select the folder Network Elements Modbus Elements to open a drop-down list of all available Modbus devices.


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4 To position a Magelis HMI, select Magelis and click Place. Then use the mouse to move the Magelis above or below the PLC display and click to position it. Note: Although the HMI device shown here is an XBTN400, other devices, such as the XBT-GT that is being used in the case of our example, are displayed in exactly the same way.

5 The Magelis operator terminal

still needs to be configured for Modbus. Right-click the device and then select Configuration from the pop-up menu that appears.


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6 To help you identify the device more easily, assign it a unique name. In this case, enter the device name XBT-GT4340. Use the following protocol properties: - Type: Modbus - Address: 2 Click OK to confirm and close this dialog.

7 Now use drag-and-drop to establish a connection between the two devices (the master and slave 2).


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8 The object list does not contain a pre-configured macro for the compact station. Therefore, select Generic Modbus element and position it (as before with the HMI) by clicking Place and using the mouse to position it in the workspace.

9 This element does not yet have

an address setting, to enable it to be addressed via Modbus. Right-click the device and then select Configuration from the pop-up menu that appears.


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10 Enter a unique name. In this case: Ositrack. Use the following protocol properties: - Type: Modbus - Address: 3 Click OK to confirm and close this dialog.

11 Use drag-and-drop to establish

a connection between the two slave devices (slave 2 and slave 3).

12 The connection will be displayed

as my network 1 19200. It is a connection with a data transfer rate of 19,200 bits/s.


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Assigning Variable Names For Physical Addresses

1 Switch to the Program tab and ensure that you have navigated to Configure the Hardware.

2 In the upper half of the screen,

the Twido Extreme controller is displayed without its peripherals (such as the Magelis HMI). In the lower half, there are tabs containing the names of the inputs and outputs to which physical addresses can be assigned.

3 To name a digital input, select

the Inputs tab and enter a name in the Symbol column. This name must not contain any special characters or begin with a number or underscore. Click Apply to confirm the name.

4 On the Inputs tab, as well as digital inputs you can also name analog and PWM inputs (pulse-width modulation). To do this, scroll down using the scrollbar on the right-hand side. Here, analog inputs are available from address %IW0.0 to %IW0.6, while PWM inputs are available from %IW0.7 to %IW0.8. Click Apply to confirm the name.


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5 To access the area where digital outputs are named, move the scrollbar back up and select the Outputs tab. Enter the symbolic name in the Symbol column and then click Apply.

Configuring the CANopen Network

1 To configure the CANopen network, you must navigate to Configure the Hardware on the Program tab.

2 To configure the CANopen

network, select the CANopen tab and click Configure.


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3 The CANopen configurator in TwidoSuite is invoked and the screen opposite, containing an empty configuration, is displayed. Please note that it is not possible to make any other entries in TwidoSuite during the configuration (e.g., it is not possible to label variables or carry out similar actions).

4 To add an Advantys FTB

module, open: (DS-401) I/O Modules. Select: Advantys FTB (1.0) below this and select the tool icon (hammer and wrench).

5 The Advantys Lite configuration

tool is started in the background, which enables you to select the correct device. First, enter a name for your new FTB module (called New Island here). In our example, the name is: FTB_8_IN_8_OUT. Click OK to continue.


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6 The complete configuration screen is displayed, as shown opposite.

7 Select your Advantys FTB

module from the Catalog Brow ser on the right-hand side of the screen. In this example, module FTB 1CN08E08SP0 is used. Double-click this device to add it.

8 An actual photo of the module is

shown in the middle of the screen. The device reference for the FTB module will appear on the left-hand side of the screen, below the name you assigned to it. Right-click 0 - FTB 1CN08E08SP0 and select Configure module.


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9 The screenshot shown opposite provides you with various details about the module, for information purposes and so that the module can be adapted. The default configuration of the module has 8 inputs and 8 diagnostic outputs. Please switch to the Digital tab.

10 Since each M12 connection has

two possible assignments, you must determine which option applies to pin 2. As demonstrated in the screen-shot opposite, change the setting here from Diagnostic to Input.

11 Make this change for the other

channels as well (Channel 10 – Channel 17) and click OK to confirm. You will now return to the main screen.

12 Now save the configuration you

have created by clicking the Save Island icon or by selecting Save in the File menu.


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13 When you open the File menu and select Exit, you will exit the configuration tool for the Advantys FTB modules and return to the CANopen configuration in TwidoSuite.

14 Once you have closed the

Advantys software, TwidoSuite will import the file you have just created.

15 The module configuration

FTB_8_IN_8OUT (V1.0) is now available under Advantys FTB (V1.0).

16 Highlight the Advantys FTB

module that you have configured and click the Add button to add two bus nodes. The nodes will be entered as address #1 and address #2 by default.

17 Right-click the Supervision

field for the first slave (address #1) and select HeartBeat from the pop-up menu that appears. This setting ensures that the node periodically reports to the master with a sign of li fe signal.


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18 Set the baud rate for CANopen to 500 kbit/s.

19 Switch to the Mapping tab.

On this tab, the two modules are displayed along with their Receive and Transmit PDOs, as well as the objects mapped onto them. You do not need to make any changes on this screen.

20 On the Linking tab, the

available PDOs that have been individually assigned to the slaves are displayed (Transmit and Receive PDOs). Highlight the appropriate slave and click the Add button (circled). The PDO will now be moved from the left-hand side to the right-hand side (from Slaves PDO to Master PDO). Repeat this process for the second slave.

21 Once you have carried out this

procedure for the Receive PDOs, repeat it for the Transmit type. Finally, please note that no PDOs can be listed on the left-hand side when configuring the Transmit or Receive settings.

22 All of the PDOs integrated into the bus are entered on the final tab (Symbol) for both directions of transfer. You can now assign a suitable symbol name to these symbols to make it easy to identify them in the program. Now click Apply and then OK to apply the changes you have made.


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23 In TwidoSuite, the nodes you have configured will now appear on the CANopen tab.

Configuring the Communic-ation Macro

1 To configure the communication macro, you must navigate to Configure the Data on the Configure tab. The communication macro enables you to access defined objects via Modbus on the basis of preconfigured functions. It is then simply a question of making a call from the program in order to transfer flag words in either a read or write direction.

2 First, select Advanced object

under Object categories on the left-hand side, and then Macros Comm in the submenu below this.


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3 In the Conf. column, activate the Comm 0 macro by checking the box next to it. For Network address, enter the relevant Modbus address. In this case, the address is 2, which applies to the Magelis XBT-GT HMI.

4 Only word-based transfer is

used for the purpose of transferring data to/from the HMI: C_RNDW for reading/C_WRNW for writing. Flag word 100 is used as the start address for the read direction; flag word 150 for the write direction. Additionally, check the boxes under Symbols i f default names are to be used for the variables. Click Apply to apply the changes.

5 To configure the Ositrack RFID station, check the Conf. box in the Comm 1 line and enter 3 for Network address. This macro is used so that the user data can be easily transferred by the Modbus requests.

6 Just as with the HMI, only

word-based transfer is used for the purpose of transferring data: C_RNDW for reading/C_WRNW for writing. Flag word 200 is used as the start address for the read direction; flag word 250 for the write direction. Additionally, check the boxes in the Symbols column if default names are to be used for the variables. Now click Apply to make the changes.


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7 The RFID compact station has two different data areas: the system data area and the user data area from the tag itself. To read the information in the system data area out from the station, the Comm 2 macro is set to network address 3 using the same procedure as before.

8 Flag word 300 is used as the

start address for the read direction; flag word 350 for the write direction (in our example only read access needs to be configured in the program). Additionally, place a check mark in the boxes under Symbols if default names are to be used for the variables. Click Apply to make the changes.

9 In this example, two macros have been configured for the same Modbus address (for the Ositrack compact station), so the dialog box shown opposite appears. Click OK to confirm it.

Using the Macro to Read Data

1 First, switch to the Program folder in TwidoSuite.

2 Click the

add a section button to create a new section.


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3 A new section, complete with a network, is displayed. Click the button circled in the screenshot opposite (operation block) to add an operation block.

4 In the bottom line of the three displayed for this block, insert the assignment C_RDNW_ADDR1_0 := 1 (read from Magelis). This command instructs the controller to apply word 1 as the start address for reading out a register block.

5 Now add a parallel connection by clicking the line between the blocks (highlighted in green) and the insert a link button. Starting from the center, move the cursor to the end of the line.

6 Add another operation block in the same way as before.

7 In the bottom line of the three

displayed for this block, insert the assignment C_RDNW 0 15. Ensure that the numbers are separated by blank spaces, and not by any other separators. This assignment declares to instance 0 that 15 words are to be read out (with start address 1).

8 Now enter a section comment.

9 Then give your network a title. The more information that is included in the network names, the easier it will be to navigate the entire program later.


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10 You can add additional useful information in the section comment field.

11 This also applies to the network

comments. In this example, a comment is being made in respect of the basic parameterization content.

12 Here you will see how the data is

assigned to the flag words based on the example of the Comm 0 macro. If you allow symbols to be generated automatically when the macro is being created, C_RDNW_VAL1 plus _0 will be generated as the symbol for macro instance 0 in the case of the first value to be transferred (VAL1).

13 In the example shown here, the different Modbus calls are managed in sequence by a counter. In this case, the counter counts in increments of 100 ms and only performs actions at odd readings. Once the maximum value (here, 11) has been reached, the counter resets itself.

Counter reading – Action assignment

%C0.v 1 - Read Tag Data from Ositrack 3 - Read Data from HMI 5 - Read System Data from Compact Station 7 - Write Data to HMI 9 - Write Tag Data to Ositrack (only on demand)

0, 2, 4, 6, 8 and 10 – pause

Opening an Example Project

1 To open the project for the example shown here, first go to the Project tab. Also, ensure that the file Example.xar is in the directory: C:\Schneider Electric \TwidoSuite\My Projects


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2 From the menu on the left-hand side, select Open an existing project, then Disk and finally the TwidoSuite Archive format. Following this, select the Example file that is displayed and double-click it, or highlight it and select Open.

Transferring a Program

1 Switch to the Debug tab and go to Connect.

2 Connect the PC and PLC using

the USB converter plus programming cable. Ensure that the selector switch for the types of communication is set to 0 TER MULTI


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3 To check the COM port assignment of the converter, select Control Panel System Device Manager in Windows. Here, open the Ports (COM & LPT) folder. All of the drivers mapped will be displayed along with their associated port.

4 To be able to parameterize the TwidoExtreme Controller with TwidoSuite, plug contact 22 must not have a power supply of 0 V/BAT potential i.e. we want to use the programming protocol. (If you have already set up the power supply to this contact, remove it)

5 The screen shown opposite appears. Here, data transfer is established via the USB converter, which is displayed as COM 3.

6 To transfer to the controller,

select Transfer PC->controller and click OK.

7 TwidoSuite then prepares the

files for transfer to the PLC; a progress bar is displayed.


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8 You will be shown a warning stating that you are about to overwrite the current application in the PLC memory. Click OK to confirm.

9 The application is transferred to

the controller…

10 ... …and a backup is created

automatically.

11 The yellow RUN LED on the

control panel shows that the controller is still in stop status. Click the arrow icon to start the PLC.

12 A prompt requesting you to

confirm (by clicking OK) that you are about to switch the PLC to RUN status appears.

13 The display and the control

panel will now display a green RUN LED, indicating that the PLC is running.

14 To enable the Twido Extreme

controller to communicate with the Modbus devices, plug contact 22 of the 70-pole connector must be supplied with BAT potential/0 V. This prompts the controller to switch to the configured communication protocol, instead of using the programming protocol.


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Devices

Introduction This chapter describes the steps required to initialize and configure the devices to

attain the described system function.

General In this architecture, there are two devices that require configuration:

Ositrack XGSC compact station (Tag read/write) Preventa XPS-MB

Ositrack Compact Station

Introduction This chapter describes the necessary steps for addressing an Ositrack compact station.

Pre-conditions To be able to carry out the steps below, you must ensure the following:

That compact station XGSC4901201 is connected to Modbus tap-off box

TCSAMT31FP. That the tap-off box is connected to the power supply


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Changing the Compact Station Address

1 When the tap-off box is switched on, the RFID reader (the compact station) first carries out a self-test. During this time (a maximum of 5 seconds) the COM LED will light up red.

Station viewed from above

2 Once the COM LED has gone off, the TAG LED flashes green. The number of flashes indicates the address of the station. In the case of the default setting, the LED flashes once, thereby indicating that the address is 1.

3 To make it easier to configure the address, no communication should be taking place on the station. To ensure that this is the case, disconnect the Modbus connection at the In port of the tap-off box.


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4 Use the Configuration Badge to change the address. Hold the card in front of the station until the TAG LED begins to flash red, and count the number of flashes (1 flash per second). In this case, the valid address range is 1 to 15. Note: If the LED flashes green instead of red when it recognizes the Configuration Badge, it means that the station address has been changed since the last time the station was switched on, or has detected a tag prior to this. In such cases, please disconnect and reconnect the power supply and work through these instructions again, starting from step 1.

Configuration Badge XGS-ZCNF01

Slow f lashing

5 When the card is removed, the TAG LED will flash green (around 3 flashes per second) to indicate the address that has been set. If this address does not correspond to the address you require, repeat the previous step.

Quick f lashing

6 To confirm the newly configured address, hold any RFID tag in front of the station. The TAG LED flashes green and the station is set to the address you require. If you wish to change this station again, you will first need to disconnect the power supply.


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7 In order to communicate with the PLC, reestablish the Modbus RTU connection that was disconnected initially.


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Preventa XPS-MP

Introduction This chapter describes the necessary steps to configure a Preventa XPS-MP module in

accordance with the on-site requirements.

Preconditions To be able to carry out the steps below, you must ensure the following: That the safety peripherals, such as the emergency off switches, safety limit switches

and acknowledgement actuators, are correctly connected That the device is connected to the power supply

Configuration Overview

1 The list shown opposite provides an overview of the functions that can be implemented using the Preventa XPS-MP emergency off switching device.


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Configuration Function 1: Two Channel E-OFF with acknowledge

1 The image on the right shows a two channel E-OFF The configuration 8 is used here for the emergency off function. The connection for the E-OFF device is via contacts C1-I1 and C2-I2 The choice of this configuration is based on safety category 3 (accord. EN954-1) and provides increased safety due to the acknowledgement requirement.

2 To query the actual configuration

for function 1 press F1 on the device. As long as the button remains pressed the yellow LED Config.Function 1 is lit and the function code is indicated in the LED row I4, I5, I6 and K3/K4 Each LED in the image left indicates a binary value. For example, when F1 is pressed and LEDs I6 (binary 2) and I5 (Binary 4) light up the function code 6 is active.


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3 To change the configuration you must first ensure that the internal safety relays are not active (LED K1/K2 must not be lit). To invoke the input mode press F1 and OK at the same time for 1-2 seconds. The LED Config.Function 1 should start to blink.

4 The table on the right shows

which LEDs must be lit to set Configuration 8.

5 Press F1 until I5, I6 and K3/K4

are not lit and I4 is lit.


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6 Press OK to accept the configuration. The indicator Config. Function 1 stops blinking and remains permanently lit To set the device to operation mode, turn the power supply to the device off for about 5 seconds and then turn it back on.

7 Check the configuration is set

up properly by pressing F1 and checking the LEDs With F1 held pressed only LED I4 should light up.

8 The diagram on the right

should the signal phases for the different conditions with Configuration 8.


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Configuration Function 2: Position Switch monitor with Acknowledge

1 The wiring diagram on the right shows a two channel E-OFF The configuration 8 is also used to monitor the position switches. The connection for the E-OFF device is via contacts C4-I4 and C5-I5 The choice of this configuration is based on safety category 3 (accord. EN954-1) and provides increased safety due to the acknowledgement requirement. Note: Although the device supports the monitoring of door switches, this function must first be tested. In the case of the refuse collection vehicle described here( which uses position switches to monitor the closing of the bunker) this would require that the switch be pressed after powering on before any acknowledgement.

2 To query the actual configuration

for function 2 press F2 on the device. As long as the button remains pressed the yellow LED Config.Function 2 is lit and the function code is indicated in the LED row I4, I5, I6 and K3/K4 Each LED in the image left indicates a binary value. For example, when F2 is pressed and LEDs I6 (binary 2) and I5 (Binary 4) light up the function code 6 is active.


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3 To change the configuration you must first ensure that the internal safety relays are not active (LED K3/K4 must not be lit). To invoke the input mode press F2 and OK at the same time for 1-2 seconds. The LED Config.Function 2 should start to blink.

4 The table on the right shows

which LEDs must be lit to set Configuration 8.

5 Press F2 until I5, I6 and K3/K4

are not lit and I4 is lit. .


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6 Press OK to accept the configuration. The indicator Config. Function 2 stops blinking and remains permanently lit To set the device to operation mode, turn the power supply to the device off for about 5 seconds and then turn it back on.

7 Check the configuration is set

up properly by pressing F2 and checking the LEDs With F2 held pressed only LED I4 should light up.

8 The diagram on the right

should the signal phases for the different conditions with Configuration 8.


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Performance

Scan and Cycle time

Using the described configuration and the example application code a cycle time of 3 milliseconds was not exceeded. The memory usage in this system with the specified Twido Extreme PLC was 9% for system data, 43% for configuration and less than 7% for program data. The measured cycle time is based on the system described in this document which includes the CANopen integration but not the described CANJ1939 bus


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Appendix

Detailed Component List

Hardware-Components – Group 1: Master Switch Pos. Amt. Description Part Number Rev./

Vers. 1.1 1 Vario master switch VCD0

Hardware-Components – Group 2: Emergency OFF & Controls

Pos. Amt. Description Part Number Rev./ Vers.

2.1 1 Multifunctional Preventa emergency off switching device, 24 V DC, Cat. 4, two independent switching functions.

XPSMP11123

2.2 1 Hanging button combination, 1 emergency off, 4 buttons with lock

XACA4713

2.3 1 NC contact for hanging button ZB2BE102 2.4 2 Safety limit switches, 1x NO, 1x NC XCSD3918P20

Hardware-Components – Group 3: 12 & 24 Volt Power supply


3.1 2 Multi 9 primary fuses, C60, 2-pole, D 1 A 24516 3.2 1 Power supply for camera, 12 V DC, 1.9 A ABL7RM1202 3.3 1 24 V DC, 5 A power supply ABL7RE2405 3.4 1 Multi 9 secondary fuse

Total current (for 12 V DC), C60, 1-pole, 1.5 A C

17453

3.5 1 Multi 9 secondary fuse Total current (for 24 V DC), C60, 2-pole, 5 A C

17434

Hardware-Components – Group 4: PLC Components


4.1 1 Twido Extreme controller TWDLEDCK1 4.0 4.2 1 Mechanical fixing kit for Extreme

controller TWDXTMK4

4.3 1 Connector for Extreme controller, preassembled at one end, with 1.5 m cable

TWDFCWK70L015

Opt. 1 70-pin connector incl. contact sockets for Extreme controller; self-assembly required

TWDFCNK70

4.4 1 8-Pol-Mini-DIN Port (Conrad Electronic) 732117-F0 4.5 1 Single-Switch housing XALD01 4.6 1 Selector, 3 Positions, latching XB5AD33


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Hardware-Components – Group 5: CANopen Components


5.1 2 IP67 CANopen module with 8 inputs and 8 outputs

FTB1CN08E08SP0

5.2 2 CANopen cable, assembled at both ends, M12 connector and M12 socket, 1 m long

FTXCN3210

5.3 1 Power supply cable, pre-assembled with a 7/8" socket, 1.5 m long

FTXDP2215

5.4 1 Power supply cable, preassembled at both ends, with 7/8" socket and 7/8" connector, 1 m long

FTXDP2210

5.5 1 CANopen terminating resistor, M12 connector

FTXCNTL12

5.6 1 Cover cap for unused 7/8" power supply output

FTC78B

5.7 1 Cover caps for unused sockets FTXCM12B 5.8 2 CANopen connector, 90° offset, with

additional port, with connectable terminating resistor

TSXCANKCDF90TP

5.9 1 CANopen connector, 90° offset, without additional port, with connectable terminating resistor

TSXCANKCDF90T

5.10 1 CANopen cable, 50 m ring TSXCANCD50

Hardware-Components – Group 6: OsiTrack & Modbus Components


6.1 1 Modbus tap-off box for connecting a maximum of three compact stations

TCSAMT31FP

6.2 1 Modbus terminating resistor, M12 connector, Out port of the tap-off box

FTXCNTL12

6.3 1 Mounting plate for tap-off box XGSZ3P 6.4 1 Ositrack compact station

(RFID read/write station) XGCS4901201

Opt. 1 M12 extension cable with connector/socket for increasing distance between tap-off box and compact station, 10 m long

TCSMCN1M1F10

6.5 6 Ositrack RFID tag; M18 x 1 x 12 design, 256 byte memory

XGHB211345

6.6 1 Ositrack RFID tag; cube design, 26 x 26 x 13 mm, M18, 256 byte memory

XGHB221346

Opt. 1 Ositrack RFID tag; cube design, 40 x 40 x 15 mm, 3408 byte memory

XGHB444345


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Hardware-Components – Group 7: Actors and Sensors


7.1 2 Semiconductor relay, 24 V DC, screw terminals

ABS2SC01EB

7.2 2 Electromechanical load relay, 24 V DC, 30 A, AMP connecting lugs

RF2ABD

7.3 2 Osiprox capacitive proximity sensor, 24 V DC, PNP, 5 mm switching distance, 2 m cable length

XT1M18PA372

7.4 2 Bracket for M18 sensors XSZB118 7.5 2 M12 sensor connector for self-

assembly FTXCN12M5

7.6 2 Osiprox inductive proximity sensor, 24 V DC, PNP, 10 mm switching distance

XS1N18PA349D

7.7 2 Bracket for M18 sensors XSZB118 7.8 2 M12 sensor cable extension,

socket/connector assembled at both ends, offset socket

XZCR1512041C2

7.9 1 Ultrasonic sensor, 24 V DC, PNP XX518A3PAM12 7.10 1 Teach adapter for ult rasonic sensor XXZPB100 7.11 1 M12 sensor cable extension,

socket/connector assembled at both ends, offset socket

XZCR1512041C2

7.12 1 Nautilus pressure sensor, 24 V DC, PNP, 1 bar nominal, DIN connector

XMLE001U1C41

7.13 1 Contact box, 2 m long, preassembled at one end (DIN 43650A)

XZCR1523062K2

7.14 2 M12 sensor connector for self-assembly

FTXCN12M5

7.15 6 Safety holder for 5 x 20 mm microfuses in terminal format

AB1FUSE435U5X

7.16 1 Microfuse set, 5 x 20 mm, 250 V, 0.5 A, quick-acting (10 piece set)

ABE7FU050

7.17 1 Microfuse set, 5 x 20 mm, 250 V, 1 A, quick-acting (10 piece set)

ABE7FU100

Opt. 1 Microfuse set, 5 x 20 mm, 250 V, 2 A, quick-acting (10 piece set)

ABE7FU200

Opt. 1 Microfuse set, 5 x 20 mm, 250 V, 4 A, quick-acting (10 piece set)

ABE7FU400

Opt. 1 Microfuse set, 5 x 20 mm, 250 V, 6.3 A, quick-acting (10 piece set)

ABE7FU630


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Hardware-Components – Group 8: Magelis HMI and Signaling


8.1 1 Magelis touch-sensitive operator terminal, 7.5" color, 640 x 480, Ethernet, video input, sound output

XBTGT4340 4.42

8.2 1 Multi 9 secondary fuse Total current (for 12 V DC), C60, 1-pole, 1 A C

24110

8.3 1 Compact signal station, 24 V DC, 30 mA, amber continuous light

XVBL05

Hardware-Components – Group 9: Camera (Conrad electronics) Pos. Amt. Description Part Number Rev./

Vers. 9.1 1 B-CAM-21-Color-PAL camera with

cinch connection, PAL standard 150348-62 *)

9.2 1 Connection adapter for camera (power and cinch)

150361-62 *)

9.3 1 Wall and ceiling mount 150375-62 *) 9.4 1 Cinch connection cable 302116-62 *)

Opt. 1 IP66 camera, Eyseo color camera, 330 TVL, 291,000 pixels, PAL standard, BNC connection

751071-62

*) The camera and accessories used here have

not been selected with IP65 degree of protection in mind.

Software-Components – Group 10: Tools and Cables


10.1 1 TwidoSuite programming software TWDBTU10EF 1.20.4 10.2 1 USB programming adapter

(USB <> RJ45) TSXCUSB485

10.3 1 RJ45 programming cable <> MiniDIN TSXCRJMD25 10.4 1 Vijeo Designer, Magelis XBT-GT

parameterization software, single-user license

VJDSNDTGSV43M 4.42

10.5 1 USB data transfer cable (Vijeo Designer <>XBT-GT)

XBTZG935

10.6 1 Advantys Lite, configuration tool for FTB and OTB modules

FTXES00 3.1


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Component Protection Classes

Cabinet Positioning Component In Field, On Site Front Inside Protection Class

IP54 IP65 IP67 IP55 IP65 IP20

Master and maintenance switch X Emergency off pushbutton housing X Preventa safety relay X pushbutton housing with selector,

empty X

Preventa position switch X LS-switch, all types and ratings,

Miniature circuit breaker X

Phaseo power supply 24 V DC and 24 V DC X

Twido Extreme PLC X Magelis XBTGT X X Ositrack Modbus-Splitter X Ositrack Read/Write station X Remote I/O FTB X Nautilus pressure sensor X Capacitive/inductive Sensors Osiprox X Ultrasonic sensor Osisonic X Power Relay (30A) Type RPF IP40 compact signal station XVBL X


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Temperature Ranges


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Component Features

Components

Twido Extreme controller TWDLEDCK1 PLC in accordance with IP67 protection class Operating temperature range from -40 to 110°C Two nominal voltages possible (12 V DC/24 V DC) 13 digital inputs 16 digital outputs 7+1 analog inputs (1 configurable as PWM) 1 PWM input 3 PWM outputs 1 quick 10 kHz counter input 1 CANopen port 1 CANJ1939 port 1 Modbus port

Preventa safety relays XPSMP Category 4 to EN 954 Part 1 24 V DC 2x 3 safety-oriented switching contacts 3 semiconductor outputs for the PLC 2 independent switching functions, configurable:

- One and two-channel emergency off - Protective door monitoring with startup test - Acceptance switch and switching mat - Injection molding or blow-ramming molding machine - Switching mat and light grid - Magnetic switch monitoring

3 semiconductor outputs for the PLC Output channels with 1.5 A switching capacity (24 V

DC/DC 13) Slimline design


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Components Contd.

Phaseo power supply unit: ABL7RE2405 100 – 240 V AC/24 V DC

5 A secondary Slimline design Parallel connection possible Short-circuit -proof and protected against overload

Phaseo power supply unit: ABL7RM1202 100 – 240 V AC/12 V DC

1.9 A secondary Compact design Parallel connection possible Short-circuit -proof and protected against overload

Schneider Electric GmbH Steinheimer Strasse 117 D - 63500 Seligenstadt Germany Twido Extreme PLC Magelis Advantys FTB Ositrack & Preventa _EN.doc

As standards, specifications and designs change from time to time, please ask for confirmation of the information given in this publication. 98

Contact

Author Telephone E-Mail

Schneider Electric GmbH Machines and Process Architectures

+49 6182 81 2555 [email protected]

mailto:[email protected]

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