02a55

Automation solution for simple
machines
Startup Guide
07/2007
1606369_02
www.telemecanique.com
2
Table of Contents
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Part I Presentation of the automation solution for simple

machines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Technical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Required hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Part II Main System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Chapter 2 Hardware implementation of the main system . . . . . . . . . . . . 23

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Main cabling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
HMI cabling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
CANopen network cabling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
I/O cabling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Power supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Chapter 3 Software implementation of the main system . . . . . . . . . . . . . 35

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Installing software and loading applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
ATV31 communications configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Chapter 4 Presentation of the application . . . . . . . . . . . . . . . . . . . . . . . . . 45

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Operating mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Grafcet of the ATV31 application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3
Part III Add a Lexium 05 servo drive . . . . . . . . . . . . . . . . . . . . . . 51
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Chapter 5 Hardware implementation of a Lexium 05 servo drive . . . . . 53

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Wiring for a Lexium 05 servo drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Cabling of the CANopen network. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Chapter 6 Software implementation of a Lexium 05 servo drive . . . . . 59

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Lexium 05 communications configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Add a Lexium 05 in the Twido controller application . . . . . . . . . . . . . . . . . . . . . . 62
Chapter 7 Presentation of the Lexium 05 application . . . . . . . . . . . . . . . 73

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Grafcet of the Lexium 05 application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Part IV Add an Advantys OTB I/O module . . . . . . . . . . . . . . . . . . 77

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Chapter 8 Hardware implementation of an Advantys OTB module . . . . 79

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Advantys OTB outputs cabling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Cabling of the CANopen network. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Advantys OTB I/O cabling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Chapter 9 Software implementation of an Advantys OTB module . . . . . 83

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Configuration of Advantys OTB communications . . . . . . . . . . . . . . . . . . . . . . . . 84
Add an Advantys OTB module in the Twido controller application . . . . . . . . . . . 86
Chapter 10 Add expansion modules to the Advantys OTB . . . . . . . . . . . . 95

Principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Mount expansion modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Add expansion modules to the Advantys OTB in the Twido controller
application.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
4
Part V Add an Advantys FTB I/O splitter . . . . . . . . . . . . . . . . . 103
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Chapter 11 Hardware implementation of an Advantys FTB splitter . . . . 105

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Cabling of the Advantys FTB I/O splitter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Cabling of the CANopen network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Power supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Chapter 12 Software implementation of an Advantys FTB splitter . . . . . 109

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Configuration of Advantys FTB communications . . . . . . . . . . . . . . . . . . . . . . . 110
Add an Advantys FTB I/O splitter to the Twido controller application. . . . . . . . 112
Appendices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Appendix A List of symbols used in the application . . . . . . . . . . . . . . . . 121

List of symbols used in the application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
5
6
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, 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.
The addition of this symbol to a Danger or Warning safety label indicates
that an electrical hazard exists, which will result in personal injury if the
instructions are not followed.
This is the safety alert symbol. It is used to alert you to potential personal
injury hazards. Obey all safety messages that follow this symbol to avoid
possible injury or death.
DANGER
DANGER indicates an imminently hazardous situation, which, if not avoided, will
result in death or serious injury.
WARNING
WARNING indicates a potentially hazardous situation, which, if not avoided, can result
in death, serious injury, or equipment damage.
CAUTION
CAUTION indicates a potentially hazardous situation, which, if not avoided, can result
in injury or equipment damage.
1606369_02 07/2007 7
Safety Information
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.
© 2007 Schneider Electric. All Rights Reserved.
User Comments We welcome your comments about this document. You can reach us by e-mail at
[email protected]
8 1606369_02 07/2007
Presentation of the automation
solution for simple machines
I
At a Glance
Overview This document presents installation of an automation solution for simple machines.
What's in this This part contains the following chapters:

Part?
Chapter Chapter Name Page
1 Introduction 11
1606369_02 07/2007 9
Presentation of the automation solution for simple machines
10 1606369_02 07/2007
Introduction
1
At a Glance
Overview This chapter presents the automation system described in this document.
What's in this This chapter contains the following topics:

Chapter?
Topic Page
General 12
Technical specifications 14
Description 17
Required hardware 18
1606369_02 07/2007 11
Introduction
General
Introduction Dedicated to simple installations and small compact machines, the programmable
controller Twido, the Altivar 31 variable speed controller, the Lexium 05 servo drive,
the Magelis XBTN displayer and the new Advantys OTB and FTB distributed I/O are
already renowned for their ability to benefit you in terms of capacity, simplicity and
competitiveness.
Today their association is a real solution, that guarantees the ease and speed of
implementation as well as the prefect functioning of the whole, thanks to a package
complete with cabling and well-integrated software (functional blocks integrated in
TwidoSuite).
CAUTION
This document does not replace in any manner the individual documentation
of each product.
It describes in simplified manner the installation, setup and implementation
presented.
Descriptions and functional specifications of a specific application are not part of
this document.
Nonetheless, this document presents a typical automated solution that can be used.
To facilitate system implementation, the setup files and applications necessary for
the presented solution are delivered with the products.
Failure to follow these instructions can result in injury or equipment damage.
12 1606369_02 07/2007
Introduction
Abbreviations / Here are the abbreviations and terms used in this document:
Terminology
Abbreviation Description
PC Personal
XBTN Displayer with alphanumeric screen
ATV31 Altivar 31 family variable speed controller
Lexium 05 Lexium 05 family servo drive
TAP Shunt box
OTB Advantys OTB IP 20 I/O module
FTB Advantys FTB IP67 I/O splitters
HMI Human/Machine Interface
AC AC power
DC DC power
I/O Input/Output.
Altivar Name of the family that includes the Schneider variable speed controllers
Lexium Name of the family that includes part of the Schneider servo drive
Magelis Name of the family that includes part of the Schneider HMI
Twido Name of the family that includes part of the Schneider controllers
1606369_02 07/2007 13
Introduction
Technical specifications
Example of an The diagram below shows an example of an automation solution:

automation
solution
The procedure for automating a simple machine of this type is shown in the following
table:
For Use
Monitor the operation, coordinate, configure Twido controller
and control the different sensors actuators
View and/or configure the different parameters A Magelis Human/Machine Interface
of the application
Operate the belt An Altivar variable speed controller
Position the roller A Lexium servo drive
Detect and control the products Advantys remote inputs/outputs linked to
sensors/actuators
To respond to these simplified technical specifications, we propose a complete

solution outlined in this guide.
14 1606369_02 07/2007
Introduction
Objective The automation solution presented in this document shows how to control one or
several motors. To do this, we propose to link an ATV31 variable speed controller
and a Lexium 05 servo drive with a Twido controller on the CANopen bus. The Twido
controller includes the Macro Drives developed for the ATV31 controllers and the
Lexium 05 drives (Macro: ready-to-use function blocks integrated in the TwidoSuite
library). These Macro Drives include micro applications that simplify the
development of a control application for an ATV31 or a Lexium 05 connected to the
CANopen open fieldbus network.
It is possible to assign a name to each of the variables used in the Twido application,
called SYMBOL.
To display and possibly modify the parameters of the system (example: motor
speed), you add an XBTN operator display. The XBTN and the TwidoSuite
application can use the same list of symbols (exported from TwidoSuite to XBT-
L1000). This link facilitates the development of the operator display application.
To control the system and give different kinds of information, we shall next add an
Advantys OTB IP20 I/O module to the system as well as an Advantys FTB IP67 I/O
splitter.
The automation solution includes the following elements:

Element Description
Twido The Twido controller associated with the CANopen master supports the
Controller following:
management and communication of the CANopen slaves: the ATV31
variable speed controller, the Lexium 05 servo drive, and the I/S modules,
diagnostics for the ATV31 variable speed controller, the Lexium 05 servo
drive, and the I/S modules,
data management for the XBTN400 operator display.
HMI The XBTN 400 is used for the following:
to display the system parameters: motor speed, information on the I/O,
system diagnostics, etc.
to change the system parameters: motor speed.
Variable The ATV31 variable speed controller is used to control its asynchronous motor
controller according to the commands received.
Servo drive The Lexium 05 servo drive is used to control the speed, position, or voltage of
the BSH servo motor:
I/O module The I/O module and splitter box provide:
and splitter information from the sensors to the controller,
box the transmission of commands to the actuators,
1606369_02 07/2007 15
Introduction
Diagram of the Here is the general diagram of the automation solution presented:
Principal
1
3 4 2
The present guide is divided into several sections depending on the modifications in
the automation solution:
Steps Description
1 Main system
2 Adding a servo drive: Lexium 05 and a BSH servo motor
3 Addition of a remote IP20 I/O module: Advantys OTB
4 Addition of a remote IP67 I/O splitter: Advantys FTB
Note: If an application requires more products, check the corresponding user

guides to see if they are compatible (for example: maximum number of elements
managed by the Twido controller).
16 1606369_02 07/2007
Introduction
Description
Installation The diagram below shows the automation solution:

diagram
24 VDC 220 / 240 VAC 1

A B
20
8 5
1 32
14
4 15 3
B
16
110-240 VAC 12 + 13
3 4 2
12 + 13 6
10
9 18
17
A
24 VDC
A 7
11
B
24 VDC
220 / 240 VAC
19
1606369_02 07/2007 17
Introduction
Required hardware
Products List of products:

TYPE Reference Description Quantity No.
Controller TWDLCAA24DRF Compact Twido 1 1
Controller TWDNCO1M Twido CANopen master 1 2
Controller TWDNAC485D Optional mini DIN RS485 1 3
HMI XBTN400 Compact display, 4 line, 20 character 1 4
Variable ATV31H018Mxx 0.18 kW/0.5 HP one-phase 200-240 V 1 5
controller ATV31
Servo drive LXM05AD10M2 0.75 kW/0.5 HP one-phase 200-240 V 1 6
Lexium 05
Servo motor BSH0551T11A2A BSH 05 6000 rpm 1.4 Nm 1 7
Accessories VW3CANTAP2 Derivation housing (TAP) 1 8
I/O OTB1C0DM9LP Advantys OTB CANopen 12E 8S 1 9
remote IP 20 I/O module
I/O TWDDDO8TT 8 static output Analog Expansion 1 9
Module for OTB
I/O TWDDRA8RT 8 relay outputs for OTB 1 9
I/O FTB1CN08E08SP0 Advantys FTB CANopen 08E 08S 1 10
remote IP67 I/O splitter
I/O FTXCNTL12 CANopen M12 line end 1 11
Power supply List of recommended power supplies and protections

and protection
Reference Description Quantity Num.
ABL8MEM24012 Supply 24VDC 1 A
MULTI 9 -C10 20725 power breaker 1 B
Note: Calibrate the power supply based on the application.
18 1606369_02 07/2007
Introduction
Cables List of cables:

TYPE Reference Description Quantity No.
CANopen TSXCANCA50 CANopen cable - bare wire 50 m 1 12
CANopen TSXCANKCDF90T CANopen SUB-D 9 female connector 2 13
with line end terminal
HMI XBTZ945 Configuration cable (PC - HMI) 1 14
HMI TSXCUSB485 USB configuration cable (PC - HMI) 1 14
HMI XBTZ9780 Link cable (HMI - Twido controller) 1 15
Variable VW3CANCARR03 1 m CAN RJ45 cable for ATV31 and 1 16
controller Lexium 05, 0.3 m
Variable VW3CANCARR1 1 m CAN RJ45 cable for ATV31 and 1 16
controller Lexium 05, 1 m
Servo VW3M5101R50 Lexium 05 / BSH 05 servo drive power 1 17
drive cable, 5 m
Servo VW3M8101R50 Lexium 05 / BSH 05 servo drive 1 17
drive encoder return cable, 5 m
I/O FTXDP2115 1 m Advantys FTB power cable 1 18
I/O FTXCN3230 3 m M12 - free wire Advantys FTB cable 1 19
I/O FTXCN3250 5 m M12 - free wire Advantys FTB cable 1 19
Software List of programming and configuration software:

TYPE Reference Description No.
Controller TWDSPU1004V10M TwidoSuite ≥ V1.0 including a BlueTooth link* 20
HMI XBTL1001M XBTL1000 light ≥ V4.4

I/O FTXES00 (≥ V3.1) Advantys Configuration Tool ≥ V1.4
* : If the PC is not Bluetooth equipped, obtain the USB key adaptor reference
VW3A8115.
1606369_02 07/2007 19
Introduction
Configuration The present guide describes installation and implementation of the system, focusing
on the main elements:
A Twido TWDLCAA24DRF controller,
An XBTN400 display,
An ATV31H018Mxx variable speed controller,
An LXM05AD10M2 Servo drive,
A BSH0551T11A2A servo motor,
An Advantys OTB1C0DM9LP I/O module,
An Advantys FTB1CN08E08SP0 I/O splitter.
Application This Quick start guide is divided into several sections. The sections describing the
projects installation of the main system, then the integration of other products.
Application projects for the controller are also provided with this guide. Each
application project corresponds to a configuration described in a section of this
guide.
The table below shows, for each section, the initial application project and the
project resulting from the actions described in the section:
Sections in Initial project Description Resulting
this guide project
II - Main system Section II
III Section II Adding a Lexium 05 and a BSH05 Section III
IV Section III Adding an OTB Section IV
V Section IV Adding an FTB Section V
20 1606369_02 07/2007
Main System
II
At a Glance
Overview This section of the document presents the installation of the main system. In this
chapter, references to the Lexium 05 servo drive and the BSH servo motor do not
apply unless you want to add a Lexium 05 servo drive (see Add a Lexium 05 servo
drive, p. 51).
Objective The objective is to control an ATV31 variable speed controller via the CANopen bus
using a Twido CANopen master. The XTBN allows to display / change the speed
instruction of the controller and the I/O status information.
Application files On the CD-ROM BUNDLE (DIA3CD3050101F), there are files for this configuration
in the "Applicative files\Partie_II" folder for the Twido controller application and in the
"Applicative files\XBTN_XBTR" folder for the XBTN operator display application.

Part?
2 Hardware implementation of the main system 23
3 Software implementation of the main system 35
4 Presentation of the application 45
1606369_02 07/2007 21
Main System
22 1606369_02 07/2007
Hardware implementation of the
main system
2
At a Glance
Overview This chapter describes hardware implementation of the main system of the
automation solution.

Chapter?
Topic Page
Main cabling 24
HMI cabling 25
CANopen network cabling 26
I/O cabling 29
Power supply 31
1606369_02 07/2007 23
Hardware implementation of the main system
Main cabling
Installation This part of the document covers the following mounting:

diagram
24 VDC 220 / 240 VAC 1
110-240 VAC
24 1606369_02 07/2007
HMI cabling
XBTN-Twido Connect the XBTN to the Twido controller using the XBTZ9780 cable:
cabling
XBTZ9780 (RS 485)
RJ45 MiniDin
Note: Use the additional TWDNAC485D interface mounted on the Twido

controller. Twido port 1 is reserved for communications between the Twido and the
PC.
According to the protocol used, the display of "?????" instead of values or the
persistence of the connection popup indicates a communication problem. This can
be caused by the cable used.
The table below shows which cable to use according to the version of the XBTN (can
be determined by the front panel) and the version of the XBT L1000 software:
XBT Front panel Cable
Version of XBT L1000 ≤ V4.30
+
Cable XBT Z978
Version of XBT L1000 ≥ V4.40
+
Cable XBT Z978
+
XBT ZN999 Adapter
Version of XBT L1000 ≥ V4.40
+
Cable XBT Z9780
For further information, see the Magelis XBTN / XBTR Operation Guide reference
1681028.
1606369_02 07/2007 25
CANopen network cabling
ATV31-TAP To connect the ATV31 to the TAP, use the type RJ45 - RJ45 cable so that:
Cabling
2
ATV
AT V
1 VW3CANCARR1
er Suit
P ow
26 1606369_02 07/2007
TAP-Twido Cable To connect the TAP to the Twido controller, connect a SUB-D 9 TSXCANKCDF90T
Preparation connector with the TSXCANCA50 cable in the following manner:
22 mm (0.86 inch)
7 mm (0.27 inch) 5 mm (0.19 inch)
Shielding
1 2
3 4
5 6
78
OFF
ON
Line end terminator
Cable pin assignment in the terminal of the SUB-D 9 connector:

No. Signal Cable Connector Wire color
1 CAN_H TAP/Twido CH1 White
2 CAN_L TAP/Twido CL1 Blue
3 GND TAP/Twido CG1 Black
4 V+ TAP/Twido V+1 Red
Note: Toggle the line end terminator of the connector to "ON".
1606369_02 07/2007 27
TAP-Twido The SUB-D 9 end of the previously prepared cable is connected to the Twido
cabling controller. The "bare wire" end of the cable is connected in the TAP in the following
manner:
54 mm (2.12 inch)
8 mm (0.31 inch) 8 mm (0.31 inch)
Shielding
S1 S2
S3
ON OFF
S4 S5 Line end terminator
1 2
3 4
5
D
GN AN_L LD
C SH N_H +)
CA (V
Cable pin assignment in the TAP terminal:
No. Signal Wire color Description
1 GND Black Weight
2 CAN_L Blue CAN_L polarity
3 SHLD (CAN-GND) (Bare cable shielding) Optional shielding
4 CAN_H White CAN_H polarity
5 V+ Red Optional power supply
Note: Toggle the line end terminator of the TAP to "On".
28 1606369_02 07/2007
I/O cabling
Twido inputs Inputs cabling diagram:

cabling
Push
Buttons
+24V 0V DC IN
0 1 ... 8 9 10 11 ... 13
DC OUT COM
I0 I1 ... I8 I9 I10 I11 ... I13
Additional information on inputs used in the application:

Input Symbol used in the Twido Action
application
%I0.0 LXM POWER Lexium 05: Switch the Lexium to the operational
state and activate the BSH servo motor
%I0.1 START_POSITION_LXM Lexium 05: Start the BSH servo motor rotation
%I0.8 PB_START_FORWARD ATV31: Start forward motor rotation
%I0.9 PB_START_REVERSE ATV31: Start reverse motor rotation
%I0.10 PB_STOP ATV31 and Lexium 05: Stop the motor and the
BSH servo motor
%I0.11 PB_SLOW_FAST ATV31: Set speed fast or slow:
Input = 0 for fast
Input = 1 for slow
%I0.13 RESET_ERROR ATV31 and Lexium 05: Acknowledge an error
(the cause of the error must be eliminated):
1606369_02 07/2007 29
Twido outputs Outputs cabling diagram:

cabling
Q0 Q1 Q2 Q3 Q4 ... Q7 Q8 Q9
100-240VAC Ry.OUT Ry.OUT Ry.OUT Ry.OUT
0 1 2 3 4 ... 7 8 9
L N COM0 COM1 COM2 COM3
Additional information on outputs:

Output Symbol used in the Twido application Indication displayed
%Q0.0 SD_RUN_FORW ATV31: Forward motor rotation
%Q0.1 SD_RUN_REV ATV31: Reverse motor rotation
%Q0.2 SD_STOPPED ATV31: Motor stopped
%Q0.3 MOTOR_IS_GOING_TO_POINT Lexium 05: BSH servo motor in
rotation
30 1606369_02 07/2007
Power supply
Diagram
24 VDC 220 / 240 VAC 1
110-240 VAC
Power on the To power on the Twido controller, follow the recommendations provided in the
Twido "Hardware implementation guide."
Power on the To power on the CANopen master, follow the recommendations in the service
CAN Master instructions provided with the product.
Cabling Diagram:
24 VDC
NC
0V
1606369_02 07/2007 31
Power on the Connections:

ATV31
ATV 31H018M3X , H037M3X, ATV 31H018M2 , H037M2,
H055M3X, H075M3X H055M2
R/L1 S/L2 T/L3 R/L1 S/L2
P0 PA/+ PB PC/- U/T1 V/T2 W/T3 P0 PA/+ PB PC/- U/T1 V/T2 W/T3
Note: Remove the self-adhesive labels to access the connectors underneath.
Note: R/L1 = Phase, R/L2 = Neutral.
32 1606369_02 07/2007
Connection diagrams:
31xxxxM3X/N4/S6X Three- ATV 31xxxxM2 One-phase
phase Network Network
R / L1
S / L2
T / L3
S / L2
R / L1
W / T3
U / T1
V / T2
W1
U1
V1
M
3a
DANGER
RISK OF ELECTROCUTION.
To power on the ATV31 variable speed controller, follow the recommendations
provided in the installation guide ref. VVDED303043.
Failure to follow these instructions will result in death or serious injury.
1606369_02 07/2007 33
34 1606369_02 07/2007
Software implementation of the
main system
3
At a Glance
Overview This chapter describes software implementation of the main system of the
automation solution.

Chapter?
Topic Page
Installing software and loading applications 36
ATV31 communications configuration 40
1606369_02 07/2007 35
Software implementation of the main system
Installing software and loading applications
Applications The CD-ROM BUNDLE (DIA3CD3050101F) contains the applications files

corresponding to the proposed automation solution. Loading these applications will
allow a simple startup for the automation solution.
Software It is necessary, at the start, to install the following software:

Installation An XBT-L1000 for the XBTN operator display
TwidoSuite for the Twido controller
36 1606369_02 07/2007
Twido The following method allows to load the application provided for the Twido controller:
Application
Step Action
1 Connect the Twido controller to a PC in the following manner:
Bluetooth
VW3A8115 VW3A8114
TwidoSuite Twido
The controller must be powered on.

Configure the Bluetooth key by following the guide provided with the key.
Use port 1 of the Twido controller. The XBTN is connected to the RS485 additional
interface of the Twido controller.
Advice: Use the COM 4 port, which is the default port installed by the Bluetooth key.
2 From the CD-ROM BUNDLE (DIA3CD3050101F), COPY the folder "Applicative
files\Partie II"
3 PASTE this folder into the directory "C:\Program Files\Schneider
Electric\TwidoSuite\My projects"
4 Open the project "BUNDLE_CAN_Part_II.xpr" using the TwidoSuite software.
5 In the TwidoSuite main window, select the task Program → Debug → Connector
and click OK.
TwidoSuite tries to set up a connection with the controller and runs synchronization
checks between the computer’s applications and the controller.
Once the connection has been established, select Transfer PC => Controller.
Click OK.
6 Wait until the program is finished loading.
In the TwidoSuite main window, select the taskProgram → Debut → Disconnect
and click OK.
Note: If the Bluetooth communication link is lost, disconnect the reconnect the
Bluetooth VW3A8114 gateway (Twido side) to reset the communication.
1606369_02 07/2007 37
XBTN XBTN / PC connection using a XBTZ945 cable:
2 3
No. Description
1 XBTZ945 2/2 RJ45/MiniDIN cable
2 XBTZ945 1/2 RJ45/SUB-D 9 cable
3 Mouse Port MiniDIN
4 COM port
XBTN / PC connection using a TSXCUSV485 cable:
1 2 3
No. Description
1 Cable XBTZ925(A) RJ45/RJ45
2 Adapter TSXCUSB485 RJ45/USB
3 USB port
For further information, see the Magelis XBTN / XBTR Operation Guide reference
1681028.
38 1606369_02 07/2007
The following method allows to load the program provided for the XBTN:
Step Action
1 From the CD-ROM BUNDLE (DIA3CD3050101F), COPY the file
"XBTN_XBTR\QS_XBT_N400.DOP"
2 PASTE this file into the directory "C:\Program Files\Schneider Electric\XBT-
L1000\appli"
3 Open the file using the XBT-L1000 software.
4 Connect the XBTN operator display to the PC (see above diagram). The XBTN
operator display must be powered on (for more information, see the operation guide
of the operator display.
The XBTN displays "WAITING FOR TRANSFER".
5 From the XBT-L1000 software menu bar, select "Transfer/Export".
6 Wait until the program is finished loading to disconnect the XTBN from the PC.
1606369_02 07/2007 39
ATV31 communications configuration
Principle The system products must be configured according to the Twido application
controller as follows:
Address 1: ATV31
Transmission Speed: 125 kBits/s
Description Front panel of the ATV31 variable speed controller:
Altivar 31 1 Altivar 31 7
RUN RUN
CAN
2 CAN
ERR ERR
ESC ESC
3
ENT ENT
6
STOP
4 RUN 5
RESET
ATV31xxxxx ATV31xxxxxxA
No. Description
1 The red LED on indicates that the direct bus is powered on.
2 4-digit "7 segments" operations display.
3 Central programming terminal.
4 "RUN" key, for starting motor in forward mode.
5 To lock/unlock the front panel of the speed controller, a flat or cross-slot screwdriver
is needed.
6 "STOP/RESET" key, for stopping the motor and resetting the current defaults.
7 These two LEDs indicate the status of communications ("RUN") and the presence of
a possible fault ("ERR") on the CANopen bus.
40 1606369_02 07/2007
Method Configuration of ATV31communication parameters:

Step Action
1 Press on the "ENT" key to enter the ATV31 configuration menu.
2 Use the "Arrows" keys to select the "COM" Communication menu then confirm using
the "ENT" key.
3 Use the "Arrows" keys to select the "AdCO" menu then confirm using the "ENT" key.
Enter the value "1" (Address on the CANopen bus).
Confirm using the "ENT" key then exit the menu using the "ESC" key.
4 Use the "Arrows" keys to select the "bdCO" menu then confirm using the "ENT" key.
Enter the value "125" (Speed on the CANopen bus).
5 Press several times on the "ESC" key to exit the configuration menu.
Note: The configuration may be modified only when the motor is stopped and when
the variable speed controller is locked (cover closed). Any modification entered will
become effective after an "Off/On" cycle of the speed controller.
For more information, see the reference document VVDED303042.
1606369_02 07/2007 41
Indicators The two indicator LEDs, located on the right side of the 4-digit 7 segment display on
the front panel of the Altivar 31, indicate the status of CANopen communications::
Normal display and not in installation:

43.0: Display of the parameter selected in the SUP menu (by default: motor
frequency). In the event of current limitation, the display flashes.
Init: Initialization sequence.
rdY: Speed controller ready.
dcb: Braking by injection of DC current in progress.
nSt: Free wheel stop.
FSt: Rapid stop.
tUn: Self adjustment in progress.
Note: In the event of a fault the display will flash.
42 1606369_02 07/2007
Description of the different states of the Altivar 31 / CANopen:

LED LED Status Altivar 31 status
indicat
or
RUN The CANopen controller is "OFF"
The Altivar 31 is "STOPPED"
The Altivar 31 is "PRE-OPERATIONAL"
The Altivar 31 is "OPERATIONAL"
ERR No error detected
Alarm sent by the CANopen controller of

the Altivar 31 (eg: too much error frame)
Error due to the appearance of a "Node-

guarding" or "Heartbeat" event
The CANopen controller is "bus off"
Description of different LED states:

LED Status Visual description of the status of the LED
The indicator is off.
The indicator is in SINGLE FLASHING.

(On for 200 ms and off for 1 second.)
The indicator is in DOUBLE FLASHING.

(On for 200 ms, off for 200 ms, on for 200 ms and off for 1 second.)
The indicator FLASHES at 2.5 Hz.

(On for 200 ms and off for 200 ms.)
The indicator is on.
1606369_02 07/2007 43
Special Note In the event of use WITHOUT MOTOR (simulation mode), the ATV31 variable
speed controller will display an error message: "OPF". Change the configuration in
the "FLt / OPL" submenu and send the value "YES" to "OAC".
Communication Use the "COM" communication menu to access configuration of CANopen

Parameters communication functions of the ATV31 connected to a Twido controller:
Parameter Possible Values Display on Values to input for
terminal the application
CANopen AdC0 address 0 to 15 1 to 16 1
CANopen bdC0 speed 125 kBits/s 125.0 125 kBits/s
250 kBits/s 250.0
500 kBits/s 500.0
44 1606369_02 07/2007
Presentation of the application
4
At a Glance
Overview This chapter describes the operation of an automation solution.

Chapter?
Topic Page
Operating mode 46
HMI 47
Grafcet of the ATV31 application 49
1606369_02 07/2007 45
Operating mode
Commands When installation of the main system is complete, the system may be controlled
using four push buttons and one two-position button.
Input Function Description Output
Corresponding symbol Corresponding symbol
%I0.8 Motor forward The corresponding LED turns on when %Q0.0
PB_START_FORWARD start the selected speed is reached. SD_RUN_FORW
%I0.9 Motor reverse The corresponding LED turns on when %Q0.1
PB_START_REVERSE start the selected speed is reached. SD_RUN_REV
%I0.10 Stop motor The corresponding LED turns on when %Q0.2
PB_STOP the motor stops. SD_STOPPED
%I0.11 Predefined motor Apply a predefined speed when changing No output to match input
PB_SLOW_FAST speeds position:
%I0.11 is set to 0: 3,300 rpm
%I0.11 is set to 1: 88 rpm
%I0.13 Acknowledge an Reset an error (the cause of the error No output to match input
RESET_ERROR ATV31 error must be eliminated):
Note: In our sample application, the push button for %I0.10 must be pushed (Stop
motor) in order to change the direction of motor rotation.
Note: In the sample program, the speed configured manually with the XBTN is not
memorized after a motor stop. The speed of 3,300 rpm depends on the
configuration of the variable speed controller.
46 1606369_02 07/2007
HMI
Main page
ESC DEL MOD ENTER
Organigram of
pages
MAIN PAGE
ATV DRIVE
Twido I/O
IP20 I/O I/O IP67 I/O
Note: Press on the ESC key to return to the preceding page.
1606369_02 07/2007 47
"ATV DRIVE"
page
The "ATV DRIVE" page displays the speed instruction sent to the ATV31 by the
Twido controller.
To modify speed, do the following:
Step Action
1
Press on the MOD key.
2
Use the and arrows to change the speed (immediate write).
3
Press on the ENTER key to confirm.
"I/O" page
The "I/O" screen provides access to 3 screens that display the status of:
I/O of the Twido controller,
I/O of the Advantys OTB I/O module (see Add an Advantys OTB I/O module,
p. 77),
I/O of the Advantys FTB I/O splitter (see Add an Advantys FTB I/O splitter,
p. 103).
48 1606369_02 07/2007
Grafcet of the ATV31 application
Simplified chart The operation of the ATV31 may be represented in the following manner:
of ATV31
operation
0 Default speed
PB_START_FORWARD PB_START_REVERSE
Forward Reverse
=1
PB_SLOW_FAST = 0 PB_SLOW_FAST = 1
Speed = fast Speed = slow
=1
PB_STOP = 0 PB_STOP = 1
Speed
controller stop
1606369_02 07/2007 49
Communication Communication error chart for the ATV31:

error chart
0 Fallback mode of ATV31
RESET_ERROR
Normal operating mode

of ATV31
Communication error
Note: In the event of a communication error, the motor state depends on the
ATV31 configuration (fallback modes)
50 1606369_02 07/2007
Add a Lexium 05 servo drive
III
At a Glance
Overview This section of the document presents a possible evolution of the main system, that
is the addition of a Lexium 05 servo drive.
Application files Files for this configuration may be found on the CD-ROM BUNDLE
(DIA3CD3050101F) in the "Applicative files\Partie_III" folder for the Twido controller
application.

Part?
5 Hardware implementation of a Lexium 05 servo drive 53
6 Software implementation of a Lexium 05 servo drive 59
7 Presentation of the Lexium 05 application 73
1606369_02 07/2007 51
Add a Lexium 05 servo drive
52 1606369_02 07/2007
Hardware implementation of a
Lexium 05 servo drive
5
At a Glance
Overview This chapter describes hardware implementation of a Lexium 05 servo drive.

Chapter?
Topic Page
Wiring for a Lexium 05 servo drive 54
Cabling of the CANopen network 55
Power supply 56
1606369_02 07/2007 53
Hardware implementation of a Lexium 05 servo drive
Wiring for a Lexium 05 servo drive

diagram
24 VDC 220 / 240 VAC 1
110-240 VAC
220 / 240 VAC
54 1606369_02 07/2007
Cabling of the CANopen network
Wiring the To connect the Lexium 05 to the TAP, use the type RJ45 - RJ45 cable so that:
Lexium 05-TAP
ATV31 Lexium 05
VW3CANCARR1
2
ATV
1
ATV
er Suit
P ow
e
Su it
1606369_02 07/2007 55
Power supply
Lexium 05 Power Power supply of the LXM 05AD10M2:

Supply Ratings
PE 220 V
0V
R/L1 S/L2
PA/+ PBi PBe PC/- U/T1 V/T2 W/T3
DANGER
RISK OF ELECTROCUTION.
To power on the Lexium 05 servo drive, follow the recommendations provided in
its installation guide reference 0198441113233.
Failure to follow these instructions will result in death or serious injury.
BSH servo motor Connect the BSH 0551T11A2A servo motor to the Lexium 05 using cable
power supply VW3M5101R50:
R/L1 S/L2
PA/+ PBi PBe PC/- U/T1 V/T2 W/T3
L1 L2 L3 PE
L1
L2
L3
60 mm (2.36 in)
70 mm (2.76 in)
Note: The terms L1, L2 and L3 appear on each of the 3 black wires.
56 1606369_02 07/2007
Lexium 05 Lexium 05 command power supply wiring diagram

command power
supply
41 42 43 44
CN3 0V
+24 VDC
Lexium 05 digital
I/Os wiring
CN1
11 12 13 14 21 22 23 31 32 33 34 35 36 37 38 39
+24 VDC
1606369_02 07/2007 57
Servo motor Connect the BSH servo motor to the Lexium 05 with cable VW3M8101R50 as
command follows:
SHLD 1
12
6
11
5
8
CN2 2
9
4
3
A NC
10
NC
12 11 10 9 8 7
6 5 4 3 2 1
Pin Signal Color Even MotorP Meaning I/O

CN2 in
1 SHLD Shielding tracer
12 SIN White 1 8 Sine signal E
6 REFSIN Brown 1 4 Reference for sine signal, 2.5V S
11 COS Green 2 9 Cosine signal E
5 REFCOS Yellow 2 5 Reference for cosine signal, 2.5V S
8 Data Grey 3 6 Reception data, data sent I/O
2 /Data Pink 3 7 Reception data, data sent, inverted I/O
10 ENC_0V Blue 4 11 Encoder reference potential (0.5mm) S
Red 4 free (0.5 mm)
3 T_MOT_0V Black 5 1 Reference potential towards T_MOT
Violet 5 Free
9 T_MOT Grey/Pink 6 2 CTP temperature sensor E
4 ENC+10V_OUT Red/Blue 6 10 10 VDC power supply foe encoder, 150 mA S
max.
7 n.c. Free
58 1606369_02 07/2007
Software implementation of a
Lexium 05 servo drive
6
At a Glance
Overview This chapter describes software implementation of a Lexium 05 servo drive.

Chapter?
Topic Page
Lexium 05 communications configuration 60
Add a Lexium 05 in the Twido controller application 62
1606369_02 07/2007 59
Software implementation of a Lexium 05 servo drive
Lexium 05 communications configuration
Address 1: ATV31
Address 10: Lexium 05
Description Lexium 05 servo drive front panel:
1 Lexium 05 8
RUN
2 BUS
ERR
3 ESC
7
ENT
4 6
No. Description
1 The red LED on indicates that the direct bus is powered on.
2 4-digit "7 segments" operations display.
3 Up arrow button:
Return to the menu or the previous parameter
Increase the value displayed
4 Down arrow button:
Go to the menu or the next parameter
Lower the value displayed
5 To lock/unlock the front panel of the speed controller, a flat or cross-slot screwdriver is
needed.
6 ENT:
Call a menu or a parameter
Store the values displayed in the EEPROM
7 ESC:
Exit a menu or a parameter
Return to the last value stored.
8 These two LEDs indicate the status of communications ("RUN") and the presence of a
possible fault ("ERR") on the CANopen bus.
60 1606369_02 07/2007
Method Configuration of Lexium 05 communication parameters:

Step Action
1 Press on the "ENT" key to enter the configuration menu.
2 Use the "Arrows" keys to select the "COM" Communication menu then confirm using
the "ENT" key.
3 Use the "Arrows" keys to select the "CoAd" menu then confirm using the "ENT" key.
Enter the value "10" (Address on the CANopen bus).
4 Use the "Arrows" keys to select the "Cobd" menu then confirm using the "ENT" key.
Enter the value "125" (Speed on the CANopen bus).
5 Press several times on the "ESC" key to exit the configuration menu.
Note: The configuration may be modified only when the motor is stopped and when
the servo drive is locked (cover closed). Any modification entered will become
effective after an "Off/On" cycle of the servo drive.
For more information, see the reference document 0198441113233.
Communication Use the "COM" communication menu to access configuration of the CANopen
Parameters communication functions of the Lexium 05 connected to a Twido controller:
Parameter Possible values for Display on the Values to input for
the Lexium Lexium terminal the application
CANopen CoAd address 1 to 127 1 to 127 10
CANopen Cobd speed 125 kBits/s 125.0 125 kBits/s
250 kBits/s 250.0
500 kBits/s 500.0
Note: The default network address of the Lexium is 127.

Twido only authorizes addresses from 1 to 16.
1606369_02 07/2007 61
Add a Lexium 05 in the Twido controller application
Principle The objective is to modify the existing application in order to be able to control the
Lexium 05 servo drive.
Declare the The following method allows declaration of the Lexium 05 in the Twido controller and
Lexium 05 in the CANopen master.
Step Action
1 Open the project "BUNDLE\Partie_II\BUNDLE_CAN_Part_II.xpr" using the TwidoSuite software
(TwidoSuite must be in disconnected mode).
In the TwidoSuite main window, select the task Program → Configure → Configure hardware.
Select the CANopen network TWDNCO1M:
Telemecanique
1 0 00 My project
i 010
01
10
10
0
0 011 10 0
10
10
?
010 1 0 10 010 1 0 0 0 010 0
0101 0 00 0 100 1 0 01 0 01 0 1 0 0 0
0101 0 00 11 1 0 0 0 01 01 0 0 0
110 0 10 01 1 0 0 11 1 0 0 1 0
0110 0 00 010 01 01 0 0
1 01
010
Project Describe Program Document
Configure Program Debug
@1
Configure the
hardware
Configure the
data
Configure the
RS232
behavior
Define the
protections
TWDLCAA24DRF TWDNCO1M
@1 Address 1
Description of the module Reference TWDNCO1M Address 1

Description CANopen bus master module (50 mA)
Configuring the module.
Configure
# Slave Type Supervision Used Address Symbol Object

1 BASIC_ATV311 BASIC_ATV31 (V1.0) HeartBeat %IWC1.0.0 D_STATUS_BASIC_ATV311 Drivecom status register
%IWC1.0.1 D_CONTROL_BASIC_ATV311 Control effort
%IWC1.0.2 D_IERROR_BASIC_ATV311 Error code
%QWC1.0.0 D_COMMAND_BASIC_ATV311Drivecom command reg
%QWC1.0.1 D_TARGET_BASIC_ATV311 Target velocity
TwidoSuite
Click Configure.
62 1606369_02 07/2007
Step Action
2 Expand the tree of the Drives and Motion Control (DS-402) profile:
CANopen Configuration Tool

Network Mapping Linking Symbol
Catalog Network
00 (DS-401) I/O Modules # Slave Type Supervision
00 00 00(DS-402)
00 ATV31_V1.2 Drives and Motion Control
(V1.2)
1 BASIC_ATV311 BASIC_ATV31 (V.. HeartBeat
00 00 00 00 0 ATV61_V1.2
2
(V1.1) 3
00 00 00Lexium05
00
ATV71_V1.1 (V1.1) 4
(V1.12)
5
BASIC_LXM05 (V1.0)
6
7
8
9
10
11
12
13
Properties Value
14
Vendor Telemecanique
15
Description EDS file for Altivar 31 CANopen..
Author S.T.I.E. 16
Creation 01-14-2004 Baud rate 125 Kbps Supervision 300 ms
OK Cancel Apply
3
Select "BASIC_LXM05 (V1.0)" in the "Catalog" area and click on and click to add the Lexium 05 servo
drive in the "Network" area:
Catalog Network
00 0 0 (DS-401)
00 0 0
I/O Modules # Slave Type Supervision
00 0 0 0 ATV31_V1.2 (V1.2)
(DS-402) Drives and Motion Control 1 BASIC_ATV311 BASIC_ATV31 (V.. HeartBeat
2 BASIC_LXM051 BASIC_LXM05 (V.. None
00 00 00 00 0 ATV61_V1.2 (V1.1)
ATV71_V1.1 (V1.1)
3
0 0 0 Lexium05
0 BASIC_LXM05
4
(V1.12)
5
(V1.0)
6
7
8
9
10
11
12
13
Properties Value
14
15
Description EDS file for Altivar 31 CANopen..
Author S.T.I.E. 16
OK Cancel Apply
1606369_02 07/2007 63
Step Action
4 For better visibility, the network address of the servo drive will be address 10.
Click on to declare the new speed controller at the network address 10:

Catalog Network
00 (DS-401) I/O Modules # Slave Type Supervision
00 00 00 (DS-402)
00 ATV31_V1.2Drives and Motion Control
(V1.2)
1
2
BASIC_ATV311 BASIC_ATV31 (V.. HeartBeat
00 0 0 0 ATV61_V1.2 (V1.1) 3
0 0 0 00 0 0Lexium05
ATV71_V1.1
0
(V1.1)
(V1.12)
4
5
BASIC_LXM05 (V1.0)
6
7
8
9
10 BASIC_LXM051 BASIC_LXM051 (V.. HeartBeat
11
12
13
Properties Value
14
15
Description LXM05 CANopen..
Author Telemecanique 16
OK Cancel Apply
Important note: When the Supervision type stays on "None", the motor will continue to turn even if the
communication between the CANopen bus and the Lexium 05 is interrupted. Change the Heartbeat value.
Management of the error mode is as follows:
Nodeguarding: The Master monitors the Slave.
Heartbeat: The Slave monitors the Master. If the RJ45 or the SUB-D 9 cable of the TWIDO is
disconnected, the servo drive stops.
None: There is no monitoring, even if one of the cable is disconnected, the servo motor continues
operating.
64 1606369_02 07/2007
Step Action
5 Select the "Linking" tab.
Use to assign the Lexium 05 to PDO number 10 in "Send" and to PDO 10 and 11 in "Receive":

Slave PDO Master PDO
Type Receive Type Transmit
Slave Name COB-ID # PDO Name COB-ID
1 BASIC_ATV311 PDO RX 6
2
3
4
5
6
7
8
9
10 BASIC_LXM051 PDO RX 1
11
12
13
14
15
16
OK Cancel Apply
It is recommended to maintain consistency with the CANopen Slave address and the associated PDOs. To
do this, the devices added subsequently in our example will obey the following rule:
slave address = number of the first PDO
6 Click on the "OK" button to confirm. The Lexium 05 is then declared in the Twido controller and in the
CANopen master.
1606369_02 07/2007 65
Macro Drive of The following method allows configuration of the Lexium 05 in the Macro Drive of the
Lexium 05 application in order to be able to control it.
Step Action
1 In the TwidoSuite main window, select the task Program → Configure → Configure the data.
In the left side of the window, select Advanced objects → Drive Macros.
The first ATV31 speed controller is declared in the Macro Drive "Drive 0". It can be seen that its CANopen
network address is indeed 1.
Telemecanique
0
100
i 010
01
10
10
0
0 01 1 10 0
10
10
?
010 10 1
0 0 1 00 1 0 0 0 010 0
010 1 0 00 0 1 0 1 0 01 0 01 01 0 0 0
010 0 00
1 11 10 0 0 0 1 0 1 0 01 0
110 0 0 10 01 0 1 0 0 11 1 0 0 0
011 0 00 01 01 0 1 0 0
010 1 01
Object categories Configure the

Define the objects hardware
Simple objects
Allocation Automatic Number of objects 0 Assigned 1 Max. : 32 Configure the
Function blocks data
Table
I/O objects Configure the
Apply Cancel behavior
Advanced objects All
Define the
Used Macro Config. protections
Help on Drive macros
Drive 0
Drive 1 General
Advanced Objects
Drive 2 Rung CANopen
%SCH Drive 3 Network address 1
PID Drive 4
Drive 5 Functions
Comm Macros
Drive 6 Function PRE Function POST
Drive Macros Drive 7 Number of words
Function name Start address
Tesys Macros Drive 8 D_CLEAR_ERR 0 30
Drive 9 D_MANAGER 0 30
OTB Macros Drive 10 D_RUN_FWD 0 30
Drive 11 D_RUN_REV 0 30
Drive 12 D_STOP 0 30
Drive 13 D_SELECT_SPEED 0 30
Drive 14
Drive 15
Drive 16
Drive 17
Drive 18
Drive 19
1
0
TwidoSuite
66 1606369_02 07/2007
Step Action
2 1 – Select Drive 1.
2 - Check the Configure box.
3 - Select the CANopen network.
4 - Enter the network address 10 of the servo drive.
5 - Click in the white area (Beginning address) and enter the value 500.
6 - Check the Symbols box.
Define the objects

Allocation Automatic Number of objects 0 Assigned 1 Max. : 32
Table
Apply Cancel
All 2
Used Macro Config. Help on Drive macros
Drive 0
1 Drive 1 General
Drive 2 Rung CANopen 3
Drive 3 Network address 10
Drive 4 4
Drive 5 Functions
Drive 6 Function PRE Function POST
Drive 7 Function name Start address Number of words Symbols
Drive 8 M_GEAR_OUT 500 50
Drive 9 M_MANAGER 500 50
Drive 10 M_POWER 500
5 50 6
Drive 11 M_STOP_AXIS 500 50
Drive 12 M_HALT_AXIS 500 50
Drive 13 M_HOME 500 50
Drive 14 M_RESET 500 50
Drive 15 M_MOVE_VEL 500 50
Drive 16 M_MOVE_ABS 500 50
Drive 17
M_MOVE_REL 500 50
Drive 18 M_SET_TORQUE 500 50
Drive 19 M_GEAR_IN 500 50
Note: Macro Drive 0 integrated in part I (ATV31) uses 30 words starting at address 0; i.e. words %MW0 to
%MW29. Macro Drive 1 (Lexium 05) must have a different address range. In our example, Macro Drive 1
will use words %MW500 to %MW549.
3 Click on the "Apply" button to confirm.
1606369_02 07/2007 67
Programming The following method allows modification of the application to control the Lexium 05.
The Macro Drive is used to control the servo drive transparently for the user using
the Drive com status chart.
Step Action
1 In the TwidoSuite main window, select the task Program → Program → Edit Program.
Telemecanique
10 0
0 My project
i 010
01
10
10
0 011
0 1 0 10
0101 0 00 0 10
?
0 10 010 0 00 101 0 10 0
1 0 1 00 1 0 00 0 0 1 00 1 0 0 0
1100 0 10 01 0 1 0 0 0 1 0 1 0 01 0
011 0 00 11 1 0 0 1 0 11 1 0 0 0
0101 01 0 1 0 0 01 1 0 0
01 010
00 0 0 00 0 0 0
Hex Edit Program
1 2 3 Ladder S
S Number 100 %
Dec abc
00 00 00 00
Program
1 - - LADDER R
R %TM %C P N Define
000
Start [1.1] Symbols
1 LD
End [1.1]
Subroutines
INIT MACRO - SPEED DRIVE (CAN SLAVE @1) 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

ATV DRIVE COM INITIALISATION
Rung 1 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
D_MANAGER 0
SHORT
0 D_MANAGER 0
RUN MOTOR FORWARD (CAN SLAVE @1) 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

Rung 2 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
PB_STAR PB_STOP REVERSE
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
D_RUN_FWD 0
00 00 00 00 00 00 00 00 00 00 00 00 000 0 0 00 00 00 00 00 00 00 00 00 00 00 00 00 00
%I0.8 %I0.10 %M4 D_RUN_FWD 0
00000000000000
00 00 00 00 00 00 00 00 00 00 00 00 00
FORWARD
%M3
00 0 0 0 0 0 0 0 0 0 0 0 0 0
FORWARD
%M3
All Without Search
Used Number Symbol Comment
10 01
01 10
TwidoSuite
2 Click on the line "RUNG 1" to select the whole line. The selected line turns green:
INIT MACRO - SPEED DRIVE (CAN SLAVE @1) ATV DRIVE COM INITIALISATION 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 000
00000000000000000000000000000000000000000000000000000
Rung 1
00 0 0 0 0D_MANAGER
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 000
0 0 0 0 0D_MANAGER
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
SHORT 0
3 Copy the line: "Edit / Copy" or "Ctrl+C".

Select an other line ("RUNG 2" for example).
Paste the new line: "Edit / Paste" or "Ctrl+V".
68 1606369_02 07/2007
Step Action
4 Select the new line.
Double click on the function "D_MANAGER_0" and change it to "M_MANAGER_1" in order to match the
Macro no. of the Lexium 05. Confirm this modification with the "Enter" key on the keyboard.
Click on the line header to change the comment. Press the "Enter" key of the keyboard to confirm.
INIT MACRO - SPEED DRIVE (CAN SLAVE @1) 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

ATV DRIVE COM INITIALISATION
Rung 1 00 0 0 0 D_MANAGER
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 000
00 0 0 0 D_MANAGER
0 000000000000000000000000000000000000000000000000
0
SHORT
INIT MACRO - LXM (CAN SLAVE @10) 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00

LXM DRIVE COM INITIALISATION
Rung 2 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0 M_MANAGER 1
0
SHORT
00 0 0 0 M_MANAGER
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 10 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
The first line allowing to control the Lexium 05 is created.

5 Create the following line:
Activate the servo motor and switch the state of the Lexium from READY to RUN:
POWER ON LXM
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
Rung 3
00 00 00LXM_POWER
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00
0 0 0%I0.0
000000000000000000000000000 00 0 0%MW509:X1
00000000000000000000000
P
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00S00 00 00 00
0 M_POWER 1 0
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 M_POWER 1
1606369_02 07/2007 69
Step Action
6 Create the following lines:
Send a relative movement command:
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0
RUN POSITION LXM 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00
Rung 6 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 000 0000000000000000000000000000000000000000000000000000000000
00 0 0M_TARGET_VELOCITY_1:=2000
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00
00 00 00START_POSITION
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
%I0.1 00 0 0%MW5300 0 0 0 0 0 0 0 0 0 0 0 0 0 :=0 0 0 02000 0000000000000000000000000000000000000
P 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00M_TARGET_POSITION_LO_1:=0
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 0 0 0%MW532
0 0 0 0 0 0 0 0 0 0 0 0 0 0:=0 0 0 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
00 00 00 M_TARGET_POSITION_HI_1:=16#F
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 0 0 %MW533 := 16#F
00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 0 0 0M_MOVE_REL
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 010 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
M_MOVE_REL 1
0
Send a command to stop the servo motor axis:
000000000000000000000000000000
STOP MOTOR (CAN SLAVE @10)
00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Rung 9
00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00
Twido_Input Stop Drive
00 00 00M_STOP_AXIS
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00
00 00 00PB_STOP
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00100 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 0 0M_STOP_AXIS
%I0.10 1
P
70 1606369_02 07/2007
Step Action
7 Create the following lines:
Turn on the indicator light when the servo motor is running:
00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00
PILOT LIGHT IF MOTOR IS GOING TO POINT 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
Rung 13 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 MOTOR_IS_GOIN 00
00 00 00M_MODE_
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00=00 00 300 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00PB_STOP
DISPLAY_1
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
Twido_Input Stop Drive
00 00 00G_TO_POINT
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0 0 0 0 0 0 0 0 0 0 0 0 0 0 =0 0 030 0 0 0 0 0 0 0 0 0 0 0 0%MW509:X4
0 0 0%MW506 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0%I0.10 000000000000000000000000000 00 0 0%Q0.3
000000000000000000000000000
Send a RESET command for an error:
00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00
OPERATIONAL MODE LXM 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Rung 21 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00M_RESET
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 100 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0 0 0RESET_ERROR
000000000000000000000000000
%I0.13 00 0 0M_RESET 1
P
Note: While in progress, the variables are represented as addresses and symbols.
8 In the TwidoSuite main window, select the task Project → Save the current project.
9 Load the new application into the Twido controller (see Installing software and loading applications, p. 36).
Note: The command for switching the state from READY to RUN is programmed
permanently: once you are in Power ON mode, you can no longer switch back to
Power OFF (no reset command for the associated bit).
Note: For details on the Macro DRIVE used, refer to the TwidoSuite online help.
1606369_02 07/2007 71
72 1606369_02 07/2007
Presentation of the Lexium 05
application
7
At a Glance
Overview This section describes the operation of the Lexium 05.

Chapter?
Topic Page
Operating mode 74
Grafcet of the Lexium 05 application 75
1606369_02 07/2007 73
Presentation of the Lexium 05 application
Operating mode
Commands When system installation is complete, the system may be controlled using six push
buttons and one two-position button.
Input Function Description Output
Corresponding symbol Corresponding symbol
%I0.0 Switching the The Lexium 05 switches from READY to No output to match input
LXM POWER Lexium 05 from RUN.
the READY to
RUN
%I0.1 Starting the servo The corresponding LED turns on when %Q0.3
START_POSITION_LXM motor the servo motor is running. MOTOR_IS_GOING_TO
_POINT
%I0.8 Motor forward The corresponding LED turns on when %Q0.0
PB_START_FORWARD start the selected speed is reached. SD_RUN_FORW
%I0.9 Motor reverse The corresponding LED turns on when %Q0.1
PB_START_REVERSE start the selected speed is reached. SD_RUN_REV
%I0.10 Stopping the The corresponding LED turns on when %Q0.2
PB_STOP motor and the the motor stops. SD_STOPPED
servo motor
%I0.11 Predefined motor Apply a predefined speed when changing No output to match input
PB_SLOW_FAST speeds position:
%I0.11 is set to 0: 3,300 rpm
%I0.11 is set to 1: 88 rpm
%I0.13 Acknowledgemen Reset an error (the cause of the error No output to match input
RESET_ERROR t of an ATV31 must be eliminated):
and/or Lexium 05
error
Note: In our sample application, the push button for %I0.10 must be pushed (Stop
motor) in order to change the direction of motor rotation.
Note: In the sample program, the speed configured manually with the XBTN is not
memorized after a motor stop. The speed of 3,300 rpm depends on the
configuration of the variable speed controller.
74 1606369_02 07/2007
Grafcet of the Lexium 05 application
Simplified chart The operation of the Lexium 05 may be represented in the following manner:
of Lexium 05
operation
0 BSH servo motor movement
Lexium in READY state
LXM POWER
Lexium in RUN state
=1
START_POSITION_LXM
Start the programmed movement of the

BSH servo motor
PB_STOP = 1 Movement completed
Stop
servo-motor
=1 =1
1606369_02 07/2007 75
Communication Communication error chart for the Lexium 05:

error chart
0 Lexium 05 in fallback mode
RESET_ERROR
Normal operating mode

of the Lexium 05
Communication error
Note: In the event of a communication error, the BSH servo motor state depends
on the Lexium 05 configuration (fallback modes)
76 1606369_02 07/2007
Add an Advantys OTB I/O module
IV
At a Glance
is the addition of an Advantys OTB I/O module.
Note: If you are not using a speed controller in your application, erase the
associated elements in the CANopen configuration as well as in the Twido
controller application program.
Application The following example will allow to control outputs of the Advantys OTB I/O module
principle the same as those of the Twido controller.
Files Files for this configuration may be found on the CD-ROM BUNDLE
(DIA3CD3050101F) in the "Applicative files\Partie_IV" folder for the Twido controller
application.

Part?
8 Hardware implementation of an Advantys OTB module 79
9 Software implementation of an Advantys OTB module 83
10 Add expansion modules to the Advantys OTB 95
1606369_02 07/2007 77
Add an Advantys OTB I/O module
78 1606369_02 07/2007
Hardware implementation of an
Advantys OTB module
8
At a Glance
Overview This chapter describes hardware implementation of an Advantys OTB I/O module
added to the main system.

Chapter?
Topic Page
Advantys OTB outputs cabling 80
Advantys OTB I/O cabling 82
Power supply 82
1606369_02 07/2007 79
Hardware implementation of an Advantys OTB module
Advantys OTB outputs cabling

diagram
24 VDC 220 / 240 VAC 1
110-240 VAC
3 2
24 VDC
220 / 240 VAC
80 1606369_02 07/2007
Principle The objective is to connect the Advantys OTB to the Twido controller using a cable
that first must be prepared.
OTB-Twido cable Connect a SUB-D 9 TSXCANKCDF90T connector with the TSXCANCA50 cable
preparation (see TAP-Twido Cable Preparation, p. 27).
1 CAN_H OTB/Twido CH1 White
2 CAN_L OTB/Twido CL1 Blue
3 GND OTB/Twido CG1 Black
4 V+ OTB/Twido V+1 Red
Note: Toggle the line end terminator of the connector on the Advantys OTB side to
"On".
OTB side cabling The SUB-D 9 end of the previously prepared cable is connected to the Advantys
OTB.
Twido side The "bare wire" end of the previously prepared cable is connected to the SUB-D 9
cabling connector joined to the Twido controller. This mounting is performed in the same
manner as previously with the following pin assignment:
5 CAN_H OTB/Twido CH2 White
6 CAN_L OTB/Twido CL2 Blue
7 GND OTB/Twido CG2 Black
8 V+ OTB/Twido V+2 Red
Note: Toggle the line end terminator of the SUB-D 9 connector on the Twido
controller side to "Off".
1606369_02 07/2007 81
Advantys OTB I/O cabling
OTB inputs Inputs of the Advantys OTB I/O module are not used in this example. For more
cabling information, see the reference guide 160384.
OTB outputs Outputs cabling diagram:

cabling
Q0 Q1 Q2 Q3 Q4 Q5 Q6 Q7
COM
0 1 -V NC 2 3 4 COM1 NC 5 6 COM2 NC 7 COM3
(+)
Additional information on outputs:

Output Indication displayed Information
%QWC1.1.0:X0 Forward motor rotation Source output
%QWC1.1.0:X1 Reverse motor rotation Source output
%QWC1.1.0:X2 Motor stopped Relay output
%QWC1.1.0:X3 Servo motor in rotation Relay output
Power supply
Power on the To power on the Advantys OTB I/O module, follow the recommendations provided
Advantys OTB in reference guide 1606384.
82 1606369_02 07/2007
Software implementation of an
Advantys OTB module
9
At a Glance
Overview This chapter describes software implementation of an Advantys OTB I/O module

Chapter?
Topic Page
Configuration of Advantys OTB communications 84
Add an Advantys OTB module in the Twido controller application 86
1606369_02 07/2007 83
Software implementation of an Advantys OTB module
Configuration of Advantys OTB communications
Address 1: ATV31
Address 2: Advantys OTB
Description Front panel of the Advantys OTB I/O module:

1 2
No. Function
1 Network address (Node-ID x10) encoder wheel
3 Transmission speed encoder wheel
84 1606369_02 07/2007
Method Configuration of Advantys OTB communication parameters:

Step Action
1 Cut off all power to the Advantys OTB.
2 Set the lower encoder wheel 3 to the position corresponding to the required baud
rate.
In the example: encoder wheel 3 is set to position 3 (125 kBits/s).
3 Set encoder wheels 1 and 2 to the position corresponding to the desired network
address. In the example, the address is 2 (10x0 + 1x2):
encoder wheel 1: position 0 (tens)
encoder wheel 2: position 2 (units)
4 Reapply power to the OTB in order to implement the new configuration.
Note: After changing any features of the components of the CANopen network, the
bus should be reinitialized by cycling the Twido controller On/Off.
Baud rate The possible speeds are as follows:

selection table
Position (lower encoder wheel) Baud rate
0 10 Kbps
1 20 Kbps
2 50 Kbps
3 125 Kbps
4 250 Kbps
5 500 Kbps
6 800 Kbps
7 1 Mbps
8 Automatic
9 Default rate (250 Kbps)
Note: The value of 8 allows automatic search for the bus transmission speed. The
search starts at a value of 1 Mbps then progressively lowers over successive
searches until communication is established on the bus. The automatic search only
works on an operational CANopen network.
1606369_02 07/2007 85
Add an Advantys OTB module in the Twido controller application
Principle The objective is to modify the existing application in order to be able to manage the
I/O of the Advantys OTB module.
Software It is first necessary to install the Advantys Configuration Tool software that allows
Installation configuration of Advantys OTB and FTB I/O modules and splitters.
Declare the The following method allows declaration of the Advantys OTB I/O module in the
Advantys OTB Twido controller application.
module
Step Action
1 Open the application "BUNDLE\Partie_III\BUNDLE_CAN_Part_III.xpr" using the TwidoSuite software
Telemecanique
100
0 My project
i 010
01
10
10
10
0 00 10 1 0
0
10
?
01
1 10 1
0 0 1 00 1 0 00 0 010 0
0 10 1 0 0 0 01 01 0 0 01 01 0 0 0
0 10 1 0 0 0 11 10 0 1 0 0 1 0 1 0 01 0
1 10 0 1 0 01 0 1 0 0 11 1 0 0 0
0 11 0 0 0 0 01 01 1 0 0
0
1 01
0 10
@1
Configure the
hardware
Configure the
data
Configure the
RS232
behavior
Define the
protections
@1 Address 1

Configure

10 BASIC_LXM051 BASIC_LXM05 (V1.0) HeartBeat %IWC1.0.1 D_CONTROL_BASIC_ATV311 Control effort
%IWC1.0.2 D_IERROR_BASIC_ATV311 Error code
TwidoSuite
Click Configure.
86 1606369_02 07/2007
Step Action
2
Expand the tree of the I/O Modules (DS-401) profile, select "Advantys OTB (V1.0)" and click on to
launch configuration and addition of a new element:

Catalog Network
00 (DS-401) I/O Modules

0 00 00 00 Advantys
# Slave Type Supervision
Advantys FTB (V1.0) 1 BASIC_ATV311 BASIC_ATV31 (V.. HeartBeat
OTB (V1.0) 2
(DS-402) Drives and Motion Control 3
4
5
6
7
8
9
11
12
13
Properties Value
14
15
Description OTB Automatic Setting
Author Schneider 16
OK Cancel Apply
3 In the "New Island" window, enter "OTB_CAN_01" matching the name of the equipment that will be used in
TwidoSuite. Next click on the "OK" button to confirm and launch the Advantys Configuration Tool
application:
New island
Name (CANopen 11 characters max)
OTB-CAN_01
Catalog selection
OTB: Remote IP20 inputs and outputs
OK Cancel
1606369_02 07/2007 87
Step Action
4 Double click on the module "OTB1C0DM9LP" to add it in the new island.
Advantys
File Edit Display Island. Options Window Help
00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 % 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 00 0 OTB_CAN_01
Island browser
0 0 - OTB 1CODM9LP OTB_CAN_01 0 0 0 00 0 0OTBbrowser
Catalog
00 0 Network Modules
Catalog
00 0 0 0 Discrete 0 0 0 OTB 1CODM9LP
0 000 000 000 TWD

Inputs
00 0 0 0 TWD
DDI 8DT
DAI 8DT
00 0 0 00 0 0 TWD
TWD DDI 16DT
DDI 16DK
00 00 00 00Discrete Outputs
TWD DDI 32DK
00 00 00 00 TWD DDO 8UT

TWD DDO 8TT
00 0 0 0 TWD DDO 16UK TWD DRA 8RT
0 00 00 00 TWD DDO 16TK

00 00 00 00 TWD DRA 16RT
TWD DDO 32UK
00 00 00 00 0 Mixed Discrete Modules
TWD DDO 32TK
00 0 0 0 0 Analog Inputs
00 00 00 00 00 Analog Outputs
00 0 0 0 0 Mixed Analog Modules
Thermocouple/RTD
Accessories
5 Perform a "File / Save".

Perform a "File / Quit".
The new island containing the Advantys OTB I/O module is then added to the catalog under the name
"OTB_CAN_01".
88 1606369_02 07/2007
Step Action
6
Select "OTB_CAN_01 (V1.0)" in the "Catalog" area and click on to add the Advantys OTB in the
"Network" area:

Catalog Network

0 00 00 00 00 0 0Advantys
# Slave Type Supervision
0 OTB (V1.0)
OTB_CAN_01 (V1.0)
2
3
OTB_CAN_011 OTB_CAN_01 (V.. None

5
6
7
8
9
11
12
13
Properties Value
14
15
Description OTB IC0 DM9LP
Author Schneider 16
OK Cancel Apply
Note: The Advantys OTB is configured by default to the first free network address, that is the network
address 2 in our example.
1606369_02 07/2007 89
Step Action
OTB_CAN_011 PDO TX 1 182 1 BASIC_ATV311 PDO RX 6
2
3
4
5
6
7
8
9
11
12
13
14
15
16
OK Cancel Apply
Use to assign the new Advantys OTB I/O module to the PDO no. 2, in both "Receive" and "Send":

2 OTB_CAN_011 PDO RX 1
3
4
5
6
7
8
9
11
12
13
14
15
16
OK Cancel Apply
90 1606369_02 07/2007
Step Action
8 Select the "Symbol" tab.
Enter, if necessary a "symbol" for the objects associated with the Advantys OTB I/O module:
Double click in the object's "Symbol" field,
Type the name of the "Symbol",
Confirm using the "ENTER" key of the keyboard.

Symbol Slave Object Size Access

D_STATUS_BASIC_ATV311 BASIC_ATV311 Drivecom status register 16 %IWC1.0.0
D_CONTROL_BASIC_ATV311 BASIC_ATV311 Control effort; 16 %IWC1.0.1
D_IERROR_BASIC_ATV311 BASIC_ATV311 Error code; 16 %IWC1.0.2
D_COMMAND_BASIC_ATV311 BASIC_ATV311 Drivecom command reg.; 16 %QWC1.0.0
D_TARGET_BASIC_ATV311 BASIC_ATV311 Target velocity; 16 %QWC1.0.1
CONTROL_PDO2_BASIC_LXM051 BASIC_LXM051 PLCopenRx2 32 %QWCD1.9.2
CONTROL_PDO1_BASIC_LXM051 BASIC_LXM051 PLCopenRx1 32 %QWCD1.9.0
M_VELOCITY_BASIC_LXM051 BASIC_LXM051 Velocity actual value 32 %IWCD1.10.2
STATUS_PDO1_BASIC_LXM051 BASIC_LXM051 PLCopenTx1 32 %IWCD1.9.0
STATUS_PDO2_BASIC_LXM051 BASIC_LXM051 PLCopenTx2 32 %IWCD1.9.2
M_POSITION_BASIC_LXM051 BASIC_LXM051 Position actual value 32 %IWCD1.10.0
OTB_CAN_OUTPUTS_1 OTB_CAN_011 Write Output 0 to 7 Module ... 8 %QWC1.1.0
OTB_CAN_011 Write Output reserved Mod... 8 %QWC1.1.1
OTB_CAN_INPUTS_1 OTB_CAN_011 Read Input 0 to 7 Module 0 ... 8 %IWC1.1.0
OTB_CAN_011 Read Input 8 to 11 Module 0 ... 8 %IWC1.1.1
OK Cancel Apply
9 Next click on the "OK" button to confirm the changes. The Advantys OTB I/O module is then declared in the
Twido controller application.
1606369_02 07/2007 91
Non-reversible The following method allows modification of the application to control outputs of the
Advantys OTB I/O module the same as those of the Twido controller.
The following method consists in changing the lines that manage the outputs of the
Twido controller by adding the outputs of the Advantys OTB.
Step Action
1 In the TwidoSuite main window, select the task Program → Program → Edit Program.
2 Select a program line corresponding to the control of outputs of the Twido controller:
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
PILOT LIGHT FORWARD IF MOTOR IS AT SELECTED SPEED
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
Rung 11 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00PB_STOP
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 FORWARD
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00SD_RUN_FORW
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0%I0.10
0 0 0%IWC1.0.0:X10 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 %M3 000000000000000000000000000 0 0 0%Q0.0
0 000000000000000000000000000
Draw a line parallel to the output coil of the Twido controller (output %Q0.0):
00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00
PILOT LIGHT FORWARD IF MOTOR IS AT SELECTED SPEED 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00
000000000000000000000000000000 00000000000000000000000000000000000000000000000000000000000 000000000000000000000000000000
Rung 11
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00PB_STOP
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 FORWARD
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00SD_RUN_FORW
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
%IWC1.0.0:X10 %I0.10 %M3 0 0 0%Q0.0
000000000000000000000000000
0
3 Add a coil to which the OTB output is applied: "%QWC1.1.0:X0".

The control program line that simultaneously maintains the two outputs:
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
Rung 10 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00PB_STOP
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 FORWARD
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0%I0.10
0 0 0%IWC1.0.0:X10 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 %M3 000000000000000000000000000 00 0 0SD_RUN_FORW
000000000000000000000000000
%Q0.0
00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00
00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00
00 0 0OTB_CAN_
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00
OUTPUTS_1
00 0 0%QWC1.1.0:X0
000000000000000000000000000
92 1606369_02 07/2007
Step Action
4 Redo the same changes to be able to control the other outputs X1, X2 and X3:
MOTOR SELECT SPEED MACRO (CAN SLAVE @11) 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 000

00000000000000000000000000000000000000000000000000000
Rung 10 00 00 00 00 00D_SETPOINT_MODE_
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00100 00 00:=00 00 00000 00 00 00 00 00 00 00 00
00 0 0 0 0%MW33 := 0
00 00 00 00 00 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000
SHORT
00 00 00 00 00D_SETPOINT_
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00100 00 00:=00 00 00SD_SPEED 00000000000000000000
:= %MW1040 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
00 0 0 0 0%MW34
00 00 00 00 00 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000
0 0 0 0 0D_SELECT_SPEED
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 010 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
00 0 0 0 0D_SELECT_SPEED
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 010 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 0 0SD_RUN_FORW
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00 00 0 0 SD_RUN_REV 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00 00 0 0SD_STOPPED
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00
0 0 0%Q0.0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 %Q0.1 000000000000000000000000000 00 0 0%Q0.2
00000000000000000000000
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00%QWC1.1.0:X2
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
PILOT LIGHT FORWARD IF MOTOR IS AT SELECTED SPEED
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
Rung 10 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0 00 00 00PB_STOP
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00FORWARD
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0 SD_RUN_FORW 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00 0 0 0%I0.10
0 0 0%IWC1.0.0:X10 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0%M3 000000000000000000000000000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0 %Q0.0
000000000000000000000000000000
00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00
00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00
00 0 0%QWC1.1.0:X0
000000000000000000000000000
00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00
PILOT LIGHT IF MOTOR IS GOING TO POINT 000000000000000000000000000000
00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0=0 0 30 0 0 0 0 0 0 0 00 000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 000 000 00 00PB_STOP
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0 0MOTOR_IS_GOIN
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 000
Rung 13
00 0 0M_MODE_ Twido_Input Stop Drive
G_TO_POINT
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00 00 0 0%Q0.3
DISPLAY_1
0 0 0%MW506
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0=0 0 30 0 0 0 0 0 0 0 0 0 0 0 0%MW509:X4
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0%I0.10
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0 %QWC1.1.0:X3 0
00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
1606369_02 07/2007 93
Step Action
5 Add OTB I/O management by the XBT:
TWIDO I/O DISPLAYED ON THE XBT PAGE 31 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00

00000000000000000000000000000000000000000000000000000000000000000000000
Rung 17 00 00XBT_TWIDO_INPUTS
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 :=00 00 00 00%I0.0.0:14 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 0%MW120 := %I0.0.0:14
00 00 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000
SHORT
00 00XBT_TWIDO_OUTPUTS
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00=00 00 SD_RUN_FORW:10 0000000000000000000000000000000
:= %Q0.0.0:10 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
00 0 %MW121
00 00 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000 000
0 0 XBT_OTB_OUTPUTS
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0=0 0 0OTB_CAN_OUTPÜTS_1 0000000000000000000000000000000000
00 0 %MW107 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0:=0 0 0 %QWC1.1.0 000000000000000000000000000000000000000000000000000
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00 XBT_OTB_INPUTS
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00=00 00 OTB_CAN_INPUTS_1 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 0 %MW108
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0:=0 0 0 %IWC1.1.0 000000000000000000000000000000000000000000000000000
6 In the TwidoSuite main window, select the task Project → Save the current project.
7 Load the new application into the Twido controller (see Installing software and loading applications, p. 36).
94 1606369_02 07/2007
Add expansion modules to the
Advantys OTB
10
Principle
Overview This section describes how to add I/O expansion modules to the Advantys OTB.
These expansion modules allow to manage the Discrete and Analog I/O.

Chapter?
Topic Page
Mount expansion modules 96
Add expansion modules to the Advantys OTB in the Twido controller 96
application.
1606369_02 07/2007 95
Add expansion modules to the Advantys OTB
Mount expansion modules
Principle See reference guide no. 160384.
Add expansion modules to the Advantys OTB in the Twido controller

application.
I/O of the Advantys OTB I/O module associated with two expansion modules.
96 1606369_02 07/2007
Declare the OTB The following method allows declaration of the Advantys OTB I/O module in the
module Twido controller application.
Step Action
1 Open the project "BUNDLE\Partie_III\BUNDLE_CAN_Part_III.xpr" using the TwidoSuite software
Telemecanique
100
0 My project
i 010
01
10
10
0
0 01 1 10 0
10
10
?
010 101
0 0 100 1 0 0 0 01 0 0
010 1 0 0 0 0 1 1 0 01 0 01 0 1 0 0 0
010 0 0 0
1 1 10 0 0 0 0 1 0 1 0 01 0
110 0 0 1 0 0 110 1 0 0 11 10 0 0
011 0 0 0 01 01 0 1 0 0
010 1 01
@1
Configure the
hardware
Configure the
data
Configure the
RS232
behavior
Define the
protections
@1 Address 1

Configure

2 OTB-CAN_011 OTB_CAN_01 (V1.0) None %IWC1.0.1 D_CONTROL_BASIC_ATV311Control effort
10 BASIC_LXM051 BASIC_LXM05 (V1.0) None %IWC1.0.2 D_IERROR_BASIC_ATV311 Error code
TwidoSuite
Click Configure.
1606369_02 07/2007 97
Step Action
2
Select the module "OTB_CAN_01" in the "Network" area and click on to delete it:

Catalog Network
00 0 0 (DS-401)
00 00 00 000 Advantys FTB (V1.0)
1 BASIC_ATV311 BASIC_ATV31 (V.. HeartBeat
Advantys OTB (V1.0) 2 OTB_CAN_01 OTB_CAN_01 (V.. None
4
5
6
7
8
9
11
12
13
Properties Value
14
15
Author Schneider 16
OK Cancel Apply
3
Expand the tree of the I/O Modules (DS-401) profile, select "Advantys OTB (V1.0)" and click on to
Catalog Network
00 0 0 (DS-401)
0 0 0 00 Advantys FTB (V1.0)
0 0 0 0 Advantys OTB (V1.0) 1 BASIC_ATV311 BASIC_ATV31 (V.. HeartBeat

2
4
5
6
7
8
9
11
12
13
Properties Value
14
15
Description OTB Automatic Setting
Author Schneider 16
OK Cancel Apply
98 1606369_02 07/2007
Step Action
4 In the "New Island" window, enter "OTB_CAN_02" matching the name of the equipment that will be used in
TwidoSuite. Next click on the "OK" button to confirm and launch the Advantys Configuration Tool
application:
New island
OTB-CAN_02
Catalog selection
OTB: IP20 remote inputs and outputs
OK Cancel
Cancel
5 Double click on the "OTB1C0DM9LP" I/O module to add it in the new island:
Do the same with the "TWDDDO8TT" and "TWDDRA8RT" expansion modules to add them to the new
island:
Advantys
00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 100 % 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 Island
0 0 0 00 0 OTB_CAN_02
browser 0 Catalog
0 0 0 00 browser
0 0 0 - OTB 1CODM9LP
OTB_CAN_02
00 0 0OTB 0 NetworkCatalog
00 00 00 1 - TWD DDO 8TT 0 0 0
00 0 0 0000 0 OTB 1CODM9LP
Modules
2 - TWD DRA 8RT

00 00 00 00Discrete Inputs
TWD DDI 8DT
00 00 0 0 TWD DDI 16DT TWD DAI 8DT
0 0 0 0 TWD DDI 16DK
00 0 0 00 0 0Discrete TWD DDI 32DK

Outputs
00 00 00 00 TWD DDO 8UT
TWD DDO 8TT
00 00 00 00 TWD DRA 8RT
TWD DDO 16UK
00 00 00 00 TWD DRA 16RT
TWD DDO 16TK
00 0 0 0000 0 TWD DDO 32UK

TWD DDO 32TK
00 0 0 0 0 Mixed Discrete Modules
00 00 00 00 00 Analog Inputs
00 00 00 00 00 Mixed Analog Modules

Analog Outputs
0 0 0 0 0 Thermocouple/RTD
Accessories
1606369_02 07/2007 99
Step Action
6 It is possible to double click on the image of each module to set the parameters (Mask, polarity,
management of fallback modes, etc.).
Perform a "File / Save".
The new island containing the Advantys OTB I/O module and its expansion modules is then added to the
CANopen catalog under the name "OTB_CAN_02".
7
Select "OTB_CAN_02 (V1.0)" in the "Catalog" area and click on to add the Advantys OTB in the
"Network" area:

Catalog Network
00 0 0 0(DS-401) I/O Modules # Slave Type Supervision
0 0 0 0 00 0 0Advantys
0 0 0 00 OTB_CAN_01 (V1.0)
OTB (V1.0) 2 OTB_CAN_021 OTB_CAN_02 (V... None
3
OTB_CAN_02 (V1.0) 4
6
7
8
9
10 BASIC_LXM051 BASIC_LXM05 (V.. HeartBeat
11
12
13
Properties Value
14
15
Author Schneider 16
OK Cancel Apply
Note: The Advantys OTB is configured by default to the first free network address, i.e., the network address
2 in our example.
100 1606369_02 07/2007

Step Action
Use to assign the new Advantys OTB I/O module and its two expansion modules to the PDO no. 2, in
both "Receive" and "Send" modes:
Type Transmit Type Receive
1 BASIC_ATV311 PDO TX 6
2 OTB_CAN_021 PDO TX 1
3
4
5
6
7
8
9
10 BASIC_LXM051 PDO TX 1
11
12
13
14
15
16
OK Cancel Apply

Enter, if necessary a "symbol" for the objects associated with the Advantys OTB I/O module:
10 Click on the "OK" button to confirm. The Advantys OTB I/O module and its expansion modules are then
declared in the Twido controller application.
1606369_02 07/2007 101

Non-reversible The goal is to modify the application to manage the outputs of the Advantys OTB I/
O module and of its expansion module the same as those of the Twido controller.
The method is identical to that described for the addition of an Advantys OTB by
integrating the new outputs of the new island:
%QWC1.1.0:X0 to X7 for the Advantys OTB "OTB1C0DEM9LP" module,
%QWC1.1.2:X0 to X7 for the "TWDDO8TT" expansion module,
%QWC1.1.4:X0 to X7 for the "TWDRA8RT" expansion module.
Here, for example, the line of the modified application managing the "FOWARD
START" indicator LEDs:
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00 00 0 0PB_STOP 0 FORWARD 0 00 00 00SD_RUN_FORW
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
Rung 11
%IWC1.0.0:X10 %I0.10 %M3 00 0 0%Q0.0 000000000000000000000000000

00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 0 0%QWC1.1.0:X0
000000000000000000000000000
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 000
00 0 0%QWC1.1.2:X0
0000000000000000000000000000
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 0
00 00 00%QWC1.1.4:X0
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
In the TwidoSuite main window, select the task Project → Save the current
project.
Load the new application into the Twido controller (see Installing software and
loading applications, p. 36).
102 1606369_02 07/2007

Add an Advantys FTB I/O splitter
V
At a Glance
is the addition of an Advantys FTB I/O splitter.
Note: If you are not using a speed controller or Advantys OTB I/O module in your
application, erase the associated elements in the CANopen configuration as well
as in the Twido controller application program.
Application files Files for this configuration may be found in CD-ROM BUNDLE (DIA3CD3050101F)
in the "Applicative files\Partie_V" folder for the Twido controller application.

Part?
11 Hardware implementation of an Advantys FTB splitter 105
12 Software implementation of an Advantys FTB splitter 109
1606369_02 07/2007 103

Add an Advantys FTB I/O splitter
104 1606369_02 07/2007

Hardware implementation of an
Advantys FTB splitter
11
At a Glance
Overview This chapter describes hardware implementation of an Advantys FTB I/O splitter

Chapter?
Topic Page
Cabling of the Advantys FTB I/O splitter 106
Power supply 108
1606369_02 07/2007 105

Hardware implementation of an Advantys FTB splitter
Cabling of the Advantys FTB I/O splitter

diagram
24 VDC 220 / 240 VAC 1
110-240 VAC
3 4 2
24 VDC
24 VDC
220 / 240 VAC
106 1606369_02 07/2007

Principle The objective is to connect the Advantys FTB to the Advantys OTB using a cable.
Select a cable To connect the Advantys FTB to the Advantys FTB, select one of the following
cables:
Reference Cable length (m)
FTXCN3230 3
FTXCN3250 5
Advantys FTB The M12 end of the cable is connected to the Advantys FTB on the "BUS IN" base.
side cabling
Advantys OTB The "bare wire" end of cable is connected to the SUB-D 9 connector joined to the
side cabling Advantys OTB (see TAP-Twido Cable Preparation, p. 27).
5 CAN_H FTB/OTB CH2 White
6 CAN_L FTB/OTB CL2 Blue
7 GND FTB/OTB CG2 Black
8 V+ FTB/OTB V+2 Red
Note: Toggle the line end terminator of the SUB-D 9 connector on the Advantys
OTB to "OFF".
Connect the FTXCNTL12 line end terminator to the "BUS OUT" base of the
Advantys FTB.
1606369_02 07/2007 107

Power supply
Power on the Power on the Advantys FTB I/O splitter using one of the following cables:
Advantys FTB
Reference Cable length (m)
FTXDP2115 1,5
FTXDP2130 3
FTXDP2150 5
Wiring Diagram:
POWER IN POWER OUT
1 1
2 2
3 5 5 3
4 4
Pin Assignment:
PIN No. Description Wire color Printing on wire
1 0V Black 1
2 0V Black 2
3 PE Green/Yellow -
4 +24 V Black 3
5 +24 V Black 4
108 1606369_02 07/2007

Software implementation of an
Advantys FTB splitter
12
At a Glance
Overview This chapter describes software implementation of an Advantys FTB I/O splitter

Chapter?
Topic Page
Configuration of Advantys FTB communications 110
Add an Advantys FTB I/O splitter to the Twido controller application. 112
1606369_02 07/2007 109

Software implementation of an Advantys FTB splitter
Configuration of Advantys FTB communications
Address 1: ATV31
Address 2: Advantys OTB
Address 3: Advantys FTB
Description Front panel of the Advantys FTB I/O splitter:
2
1 3
No. Function
1 Transmission speed encoder wheel
110 1606369_02 07/2007

Method Configuration of Advantys FTB communication parameters:

Step Action
1 Cut off all power to the element.
2 Set encoder wheel 1 to the position corresponding to the required baud rate.
In the example: encoder wheel 1 is set to position 5 (125 kBits/s)
3 Set encoder wheels 2 and 3 to the position corresponding to the desired network
address. In the example, the address is 3 (10x0 + 1x3):
encoder wheel 2: position 0 (tens)
encoder wheel 3: position 3 (units)
4 Reapply power to the Advantys FTB to implement the new configuration.
Transmission Set the transmission speed using a turn switch.

speed The possible speeds are as follows:
configuration
Switch position Transmission speed
0 Automatic
1 10 Kbps
2 20 Kbps
3 50 Kbps
4 100 Kbps
5 125 Kbps
6 250 Kbps
7 500 Kbps
8 800 Kbps
9 1000 Kbps
1606369_02 07/2007 111

Add an Advantys FTB I/O splitter to the Twido controller application.
I/O of the Advantys FTB splitter.
Declare the The following method allows declaration of the Advantys FTB I/O splitter in the
Advantys FTB Twido controller application.
splitter
Step Action
1 Open the project corresponding to your hardware configuration using the TwidoSuite software (TwidoSuite
must be in disconnected mode).
ATV31, LXM05, OTB without the expansion module: BUNDLE\Partie_IV\BUNDLE_CAN_Part_IV.xpr
ATV31, LXM05, OTB + expansion modules: BUNDLE\Partie_IV\BUNDLE_CAN_Part_IVb.xpr
Telemecanique
100
0 My project
i 010
01
10
10
10
0 00 10 0
10
10
?
01
1 10 1
0 0 1 00 1 0 0 0 010 0
0 10 1 0 0 0 0 1 0 1 0 01 0 01 01 0 0 0
0 10 1 0 0 0 11 10 0 0 0 1 0 1 0 01 0
1 10 0 0 1 0 01 0 1 0 0 11 1 0 0 0
0 11 0 0 0 01 01 0 1 0 0
1 01
0 10
@1
Configure the
hardware
Configure the
data
Configure the
RS232
behavior
Define the
protections
@1 Address 1

Configure

2 OTB-CAN_021 OTB_CAN_02 (V1.0) None %IWC1.0.1 D_CONTROL_BASIC_ATV311
D_CONTROL_BASIC_ATV31 Control effort
10 BASIC_LXM051 BASIC_LXM05 (V1.0) None %IWC1.0.2 D_IERROR_BASIC_ATV311 Error code
%QWC1.0.0 D_COMMAND_BASIC_ATV311 Drivecom command reg
TwidoSuite
Click Configure.
112 1606369_02 07/2007

Step Action
2
Expand the tree of the I/O Modules (DS-401) profile, select "Advantys FTB (V1.0)" and click on to
Catalog Network
00 0 0 (0 DS-401) I/O Modules # Slave Type Supervision

00 0 0 0 Advantys FTB (V1.0) 1 BASIC_ATV312 BASIC_ATV31 (V.. HeartBeat
Advantys OTB (V1.0) 2 OTB_CAN_021 OTB_CAN_021 (V.. None
4
5
6
7
8
9
11
12
13
Properties Value
14
15
Description FTB Automatic Setting
Author Schneider 16
OK Cancel Apply
3 In the "New Island" window, enter "FTB_CAN_01" matching the name of the equipment that will be used in
TwidoSuite. Next click on the "OK" button to confirm and launch the Advantys Configuration Tool application:
New island
FTB-CAN_01
Catalog selection
FTB: Remote IP67 I/O
OK Cancel
1606369_02 07/2007 113

Step Action
4 Double click on the Advantys FTB I/O "FTB1CN08E08SP0" splitter to add it in the new island:
Advantys
00 Island
000000000 0 0 0 0browser
000000000000000000000000000000000000 100 %
00 0Catalog
0 0 0 0 0 0 0 0 0 0 browser
000000000000000000000000000000000000
00 0 FTB_CAN_01
0 0 - FTB 1CN08E08SP0
FTB_CAN_01
0 0 0 00 0 0FTB
00 0 0NetworkCatalog
Modules
0 0 0 FTB 1CN16EP0
00 00 00 FTB 1CN16EM0
00 00 00 FTB 1CN16CP0
FTB 1CN16CM0
00 00 00 FTB 1CN12E05SP0
FTB
1CN08E08SP0
FTB 1CN08E08CM0
5 It is possible to double click on the image of the splitter to set the parameters (Function, Mask, polarity,
management of fallback modes, etc.).
Perform a "File / Save".
The new island containing the Advantys FTB I/O splitter is then added to the CANopen catalog under the
name "FTB_CAN_01".
114 1606369_02 07/2007

Step Action
6
Select "FTB_CAN_01 (V1.0)" in the "Catalog" area and click on to add the Advantys FTB splitter in the
"Network" area.

Catalog Network

00 0 0 0 00 0 0Advantys
0 FTB (V1.0)
#
1
Slave
BASIC_ATV311
Type Supervision
BASIC_ATV31 (V.. HeartBeat
0 0 0 0 FTB_CAN_01 (V1.0) 2
3
OTB_CAN_021
FTB_CAN_011
OTB_CAN_02 (V..
FTB_CAN_01 (V...
None
None
Advantys OTB (V1.0)
5
6
7
8
9
11
12
13
Properties Value
14
15
Description FTB
Author Schneider 16
OK Cancel Apply
Note: The Advantys FTB is configured by default to the first free network address, i.e., the network address
3 in our example.
1606369_02 07/2007 115

Step Action
Use to assign the new Advantys FTB splitter to the PDO no. 3, in both "Receive" and "Send":

2 OTB_CAN_021 PDO RX 1
3 FTB_CAN_011 PDO RX 1
4
5
6
7
8
9
11
12
13
14
15
16
OK Cancel Apply

Enter, if necessary, a "symbol" for the objects associated with the Advantys FTB I/O splitter:
9 Click on the "OK" button to confirm. The Advantys FTB I/O splitter is then declared in the Twido controller
application.
116 1606369_02 07/2007

Non-reversible The goal is to change the application to control the I/O of the Advantys FTB splitter
the same as those of the Twido controller.
The method is identical to the one described for adding an Advantys OTB by
integrating to the application the new I/O of the Advantys FTB splitter:
%IWC1.2.0:X0 to X7 for inputs,
%QWC1.2.0:X0 to X7 for the outputs.
In the TwidoSuite main window, select the task Project → Save the current
project.
Load the new application into the Twido controller (see Installing software and
loading applications, p. 36).
1606369_02 07/2007 117

118 1606369_02 07/2007

Appendices
At a Glance
List of symbols The following pages contain the list of symbols used in the application described in
part V of this document.
What's in this The appendix contains the following chapters:

Appendix?
A List of symbols used in the application 121
1606369_02 07/2007 119

Appendices
120 1606369_02 07/2007

List of symbols used in the
application
A
List of symbols used in the application
List of symbols In the TwidoSuite main window, select the task Program → Program → Define
Symbols.
Here, for example, is the list of symbols used in the application described in part V
of this document:
Symbol Number Comment
LXM POWER %I0.0
START_POSITION %I0.1
PB_START_FORWARD %I0.8 Twido_input: start drive Forward
PB_START_REVERSE %I0.9 Twido_Input: Start drive Reverse
PB_STOP %I0.10 Twido_Input: Stop drive
PB_SLOW_FAST %I0.11 Twido_Input: select speed drive SLOW or FAST
RESET_ERROR %I0.13
D_STATUS_BASIC_ATV311 %IWC1.0.0
D_CONTROL_BASIC_ATV311 %IWC1.0.1
D_IERROR_BASIC_ATV311 %IWC1.0.2
OTB_CAN_INPUTS_1 %IWC1.1.0
OTB_CAN_INPUTS_2 %IWC1.1.1
FTB_CAN_INPUTS_1 %IWC1.2.0
STATUS_PDO1_BASIC_LXM051 %IWCD1.9.0
STATUS_PDO2_BASIC_LXM051 %IWCD1.9.2
M_POSITION_BASIC_LXM051 %IWCD1.10.0
M_VELOCITY_BASIC_LXM051 %IWCD1.10.2
FORWARD %M3
REVERSE %M4
PB_12_RF %M12
1606369_02 07/2007 121


D_STATE_0 %MW0 Altivar state
D_CANSTATE_0 %MW1 Altivar CANopen state
D_ERROR_0 %MW2 Altivar error code
D_SETPOINT_MODE_0 %MW3 Altivar set-point mode
D_SETPOINT_0 %MW4 Altivar set-point
D_SELECT_SPEED_VAL_0 %MW17 Control effort on the Altivar
D_MODBUS_INIT_PHASE_0 %MW28 Modbus initialisation phase running Bit0
SD_SPEED %MW104 Speed entered with the XBT or selected by OTB input
%IWC1.1.1:X3
XBT_FTB_OUTPUTS %MW105 Used to display information on the XBT
XBT_FTB_INPUTS %MW106 Used to display information on the XBT
XBT_OTB_OUTPUTS %MW107 Used to display information on the XBT
XBT_OTB_INPUTS %MW108 Used to display information on the XBT
XBT_DIALOG_TABLE_ALARM %MW110 Used to manage Alarm display on the XBTN400
XBT_TWIDO_INPUTS %MW120
XBT_TWIDO_OUTPUTS %MW121
CAN_SLAVE_STATUS_2_1 %MW200 Status for slave 2 (MSB) and 1 (LSB) / system words
%SW20
CAN_SLAVE_STATUS_4_3 %MW201 Status for slave 4 (MSB) and 3 (LSB) / system words
%SW21
CAN_OPEN_SLAVE_STATUS_XBT_1 %MW202 CAN Status for slave 1
M_AXIS_NB_1 %MW502 Lexium Address
M_AXIS_STATUS_1 %MW503 Active state of axis control graph
M_ERROR_LD_1 %MW504 Lexium error code
M_MVT_TYPE_1 %MW505 Actual mvt of servo drive
M_MODE_DISPLAY_1 %MW506 Actual mode of operation active
M_GEAR_REF_1 %MW507 Operating mode of electronic gear processing
M_STATE_1 %MW509 Actual mode of operation active
M_POSITION_REF_LO_1 %MW512 Reference position for homing method 35 low bits
M_POSITION_REF_HI_1 %MW513 Reference position for homing method 35 high bits
M_GEAR_NUM_LO_1 %MW514 Gear Numerator low bits
M_GEAR_NUM_HI_1 %MW515 Gear Numerator high bits
M_HOMING_METHOD_1 %MW529 Reference movement method
122 1606369_02 07/2007


M_TARGET_VELOCITY_1 %MW530 Speed reached
M_GEAR_DENOM_1 %MW531 Gear Denominator low bits
M_TARGET_POSITION_LO_1 %MW532 position reached low bits
M_TARGET_POSITION_HI_1 %MW533 position reached high bits
M_TARGET_CURRENT_1 %MW534 Current reached
SD_RUN_FORW %Q0.0 Twido_Output: speed drive is running forward
SD_RUN_REV %Q0.1 Twido_Output: speed drive is running reverse
SD_STOPPED %Q0.2 Twido_Output: speed drive is stopped
MOTOR_IS_GOING_TO_POINT %Q0.3
D_COMMAND_BASIC_ATV311 %QWC1.0.0
D_TARGET_BASIC_ATV311 %QWC1.0.1
OTB_CAN_OUTPUTS_1 %QWC1.1.0
FTB_CAN_OUTPUTS_1 %QWC1.2.0
CONTROL_PDO1_BASIC_LXM051 %QWCD1.9.0
CONTROL_PDO2_BASIC_LXM051 %QWCD1.9.2
1606369_02 07/2007 123

124 1606369_02 07/2007

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Automation solution for simple

Part I Presentation of the automation solution for simple

Part II Main System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Chapter 2 Hardware implementation of the main system . . . . . . . . . . . . 23

Chapter 3 Software implementation of the main system . . . . . . . . . . . . . 35

Chapter 4 Presentation of the application . . . . . . . . . . . . . . . . . . . . . . . . . 45

Chapter 5 Hardware implementation of a Lexium 05 servo drive . . . . . 53

Chapter 6 Software implementation of a Lexium 05 servo drive . . . . . 59

Chapter 7 Presentation of the Lexium 05 application . . . . . . . . . . . . . . . 73

Part IV Add an Advantys OTB I/O module . . . . . . . . . . . . . . . . . . 77

Chapter 8 Hardware implementation of an Advantys OTB module . . . . 79

Chapter 9 Software implementation of an Advantys OTB module . . . . . 83

Chapter 10 Add expansion modules to the Advantys OTB . . . . . . . . . . . . 95

Chapter 11 Hardware implementation of an Advantys FTB splitter . . . . 105

Chapter 12 Software implementation of an Advantys FTB splitter . . . . . 109

Appendix A List of symbols used in the application . . . . . . . . . . . . . . . . 121

What's in this This part contains the following chapters:

What's in this This chapter contains the following topics:

Example of an The diagram below shows an example of an automation solution:

To respond to these simplified technical specifications, we propose a complete

The automation solution includes the following elements:

Note: If an application requires more products, check the corresponding user

Installation The diagram below shows the automation solution:

24 VDC 220 / 240 VAC 1

Products List of products:

Power supply List of recommended power supplies and protections

Note: Calibrate the power supply based on the application.

Cables List of cables:

Software List of programming and configuration software:

HMI XBTL1001M XBTL1000 light ≥ V4.4

What's in this This part contains the following chapters:

What's in this This chapter contains the following topics:

Installation This part of the document covers the following mounting:

24 VDC 220 / 240 VAC 1

Note: Use the additional TWDNAC485D interface mounted on the Twido

CANopen network cabling

Line end terminator

Cable pin assignment in the terminal of the SUB-D 9 connector:

Note: Toggle the line end terminator of the connector to "ON".

S4 S5 Line end terminator

Note: Toggle the line end terminator of the TAP to "On".

Twido inputs Inputs cabling diagram:

Additional information on inputs used in the application:

Twido outputs Outputs cabling diagram:

Additional information on outputs:

24 VDC 220 / 240 VAC 1

Power on the Connections:

R/L1 S/L2 T/L3 R/L1 S/L2

Note: Remove the self-adhesive labels to access the connectors underneath.

Note: R/L1 = Phase, R/L2 = Neutral.

What's in this This chapter contains the following topics:

Installing software and loading applications

Applications The CD-ROM BUNDLE (DIA3CD3050101F) contains the applications files

Software It is necessary, at the start, to install the following software:

The controller must be powered on.

XBTN XBTN / PC connection using a XBTZ945 cable:

XBTN / PC connection using a TSXCUSV485 cable:

ATV31 communications configuration

Description Front panel of the ATV31 variable speed controller: