halstrup-walcher PS-3 Series User manual

Function Blocks for PSx-3__ with
PROFINET interface
halstrup-walcher GmbH
Stegener Straße 10
D-79199 Kirchzarten
Phone: [phone]
Fax: [phone]
E-Mail: [e-mail]
Internet: www.halstrup-walcher.de
Document 7100.005454B Version 1.1 4/2017

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Table of Contents
1Safety precautions ........................................................................................4
1.1 Appropriate use ......................................................................................4
1.2 Symbols..................................................................................................4
2Data Structure DRIVE_DATA........................................................................4
3Data Component “Antriebsdaten” ...............................................................6
4Error Description (Error ID) ..........................................................................7
5Description and use of the function blocks ................................................8
5.1 Opening the library..................................................................................8
5.2 Copying of function blocks into the user project......................................9
5.3 Generating instance data blocks...........................................................10
5.4 Generating global data..........................................................................10
5.5 Commonalities of all function blocks .....................................................10
5.6 Lockings between the function blocks...................................................11
5.7 Example................................................................................................11
5.8 MC_Move (FB110)................................................................................13
5.9 MC_Error (FB111) ................................................................................17
5.10 MC_ReadParameter (FB112) .............................................................18
5.11 MC_WriteParameter (FB113)..............................................................20
5.12 MC_Parametrization (FB114)..............................................................22
5.13 MC_PositionParametrization (FB115).................................................29

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Purpose of instruction manual
This instruction manual describes the function blocks for the PSx-3__-PN (with PROFINET
interface).
Improper use of these devices or failure to follow these instructions may cause injury
or equipment damage. Every person who uses the devices must therefore read the
manual and understand the possible risks. The instruction manual, and in particular
the safety precautions contained therein, must be followed carefully. Contact the
manufacturer if you do not understand any part of this instruction manual.
The manufacturer reserves the right to continue developing these function blocks without
documenting such development in each individual case. The manufacturer will be happy to
determine whether this manual is up-to-date.
© 2017
The manufacturer owns the copyright to this instruction manual. It must not be copied either
wholy or in part or made available to third parties.

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1 Safety precautions
1.1 Appropriate use
The positioning systems PSx-3__-PN are especially suitable for automatically setting tools,
stops or spindles for wood-processing equipment, packing lines, printing equipment, filling
units and other types of special machines.
PSx3__-PN positioning systems are not stand-alone devices and may only be used if
coupled to another machine.
1.2 Symbols
The symbols given below are used throughout this manual to indicate instances when
improper operation could result in the following hazards:
WARNING!
This warns you of a potential hazard that could lead to bodily injury up to
and including death if the corresponding instructions are not followed.
CAUTION!
This warns you of a potential hazard that could lead to significant property
damage if corresponding instructions are not followed.
INFORMATION!
This indicates that the corresponding information is important for operating
the function blocks properly.
2 Data Structure DRIVE_DATA
For each drive there’s a data structure, in which some data of the drive is deposited. For each
drive a global instance of this structure is required. This instance must be provided to each FB
that operates on the corresponding drive. Hereby it shall be prevented for example, that two
FBs accesses the parameter interface of a single drive. Furthermore, in this data structure the
addresses for the input and output data of the corresponding drive has to be deposited.

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Parameter name
Data type
Written by
Description
PdAddressIn
INT
User
Address process data Slave 
Master
PdAddressOut
INT
User
Address process data Master 
Slave
Name
STRING[16]
User (optional)
Name der Achse
Beschreibung
STRING[32]
User (optional)
Description
(e.g. function, task of this axis)
State
DINT
Function blocks
Actual state
Private
STRUCT
Function blocks
Data structure for internal use
Only in the versions for the TIA Portal:
DB_LIB_IN/OUT
DT_LIB_IN/OUT
Function blocks
Data structure for internal use
In the versions for the TIA Portal the data structure DRIVE_DATA additionally includes a
parameter of the structure “DT_LIB_IN/OUT”, therefore this data structure has to be taken
over of the library into the user project.
The following diagram shows how in the TIA Portal the given process data addresses may be
checked:
(Addresses of process data in Step 7 TIA)

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3 Data Component “Antriebsdaten”
In the versions for the TIA Portal this data component serves as a template for connecting the
inputs and outputs of the function blocks. The data component provides the variables which
are necessary to connect each input and output of all available function blocks. Each variable
is present two times, so two positioning systems may be controlled.
Example:
In case the data component is taken over into the project, it is advisable to delete the variables
which are not used (in order that PLC memory is not reserved needlessly) and to adjust the
data component to the number of drives which are actually present.
The data component uses the data types “Parameter”and “ParameterEnable”by default, so
these types have to be taken over of the library into the project also.

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4 Error Description (Error ID)
Subsequently the error codes are shown, which are displayed by the function blocks:
ErrorID (hex)
Description
16xF000 (mask)
FB
16#1xxx
Error in MC_Move
16#2xxx
Error in MC_Error
16#3xxx
Error in MC_ReadParameter
16#4xxx
Error in MC_WriteParameter
16#5xxx
Error in MC_Parametrization
16#6xxx
Error in MC_PositionParametrization
16#0F00 (mask)
Internal FB and PD errors
16#x1xx
Error in state machine or other FB internal error
16#x2xx
Invalid PD input address
16#x3xx
Invalid PD output address
16#x4xx
Error while reading PD
16#x5xx
Error while writing PD
16#x6xx
Unallowed input data change
16#00F0 (mask)
Parameter errors
16#xx1x
Parameter: communication timeout (1000 ms)
16#xx2x
Parameter: invalid parameter number
16#xx3x
Parameter: value is read only
16#xx4x
Parameter: lower or upper limit exceeded
16#xx5x
Parameter: faulty sub-index
16#xx6x
Parameter: not an array
16#xx7x
Parameter: incorrect data type
16#xx8x
Parameter: setting not allowed (resetting only)
16#xx9x
Parameter: request cannot be processed due to
operating state
16#xxAx
Other error
16#000F (mask)
Drive errors
16#xxx1
Drag error
16#xxx2
Under- or overvoltage motor supply
16#xxx3
Positioning run aborted
16#xxx4
Temperature exceeded
16#xxx5
Absolute measuring system error
16#xxx6
Block or overcurrent error
16#xxx7
Manual displacement
16#xxx8
Incorrect target value
16#xxx9
Under- or overvoltage during run
16#xxxA
Lower position limit exceeded
16#xxxB
Upper position limit exceeded
The errors “Drive Errors” are a copy of the error bits in the status word of the PSx.

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Examples:
Run command (MC_Move) with incorrect target value ErrorID = 16#1008
Writing a parameter (MC_WriteParameter) with invalid parameter number ErrorID =
16#4020
5 Description and use of the function blocks
Initially the function blocks have to be included in an own user project. This happens by
opening the desired library and copying the desired function blocks.
The following librarys are available:
- “halstrup-walcher”
for Step 7 Classic V5.5
- “library_PSx3xxPN_TIA13SP1_300”
for CPU S7-300 im TIA-Portal (V13 SP1)
- “library_PSx3xxPN_TIA14_300”
for CPU S7-300 im TIA-Portal (V14)
- “library_PSx3xxPN_TIA13SP1_1200-1500”
for CPU S7-1200/1500 im TIA-Portal (V13 SP1)
- “library_PSx3xxPN_TIA14_1200-1500”
for CPU S7-1200/1500 im TIA-Portal (V14)
5.1 Opening the library
After opening the library the function blocks present itself in the following way:
(View in Step 7 Classic V5.5)

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(View in Step 7 TIA V13 + V14)
5.2 Copying of function blocks into the user project
The following elements of the library (independently of the actually used function blocks
“MC_...” and the number of drives) in any case have to copied into the project:
When using the library version for Step 7 Classic V5.5:
Copy into “S7 Program Blocks”:
FB116 (“LIB IN/OUT”)
DB116 (“DB_LIB_IN/OUT”)
UDT110 (“DRIVE_DATA”)
SFB4 (“TON”)
SFC14 (“DPRD_DAT”)
SFC15 (“DPWR_DAT”)
SFC20 (“BLK_MOV”)

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When using one of the library versions for Step 7 TIA V13 + V14:
Copy into “Program blocks”of the desired CPU:
Data type DRIVE_DATA
Data type DT_LIB_IN/OUT
Function block LIB_IN/OUT
These elements serve for the communication to the drive. The functions and function blocks of
this group must NOT be called in the program.
Besides the desired function blocks “MC_...” have to be copied into the user project, e.g. all or
a choice of the following blocks:
MC_Move
MC_Error
MC_ReadParameter
MC_WriteParameter
MC_Parametrization
MC_ PosParametrization
In the versions for the TIA Portal additionally the data component “Antriebsdaten”may be
taken over as a template for connecting the inputs and outputs of the function blocks. In ist
standard implementation, the data types “Parameter”and “ParameterEnable”also have to be
taken over (see chapter 3).
5.3 Generating instance data blocks
Per axis and per desired function block an instance data block has be generated.
5.4 Generating global data
Per axis one global variable of the type DRIVE_DATA has to be generated (size: 94 byte in
Classic Step 7, 144 byte in TIA Portal). Additionally those variables have to be generated
which are connected to the inputs and outputs of the particular blocks.
If applicable, it’s reasonable to generate an additional data block of the type “global” for this
data (e.g. DB1000), in case of the TIA Portal also the template “Antriebsdaten” may be used
(see chapter 3).
It’s not necessary to connect all inputs and outputs. If parts of a block are not used, the
associated inputs may stay unconnected, then the respective initial value for this input is valid.
Outputs not used also may stay open.
5.5 Commonalities of all function blocks
The function blocks are inserted in a part of the program that is called cyclically (e.g. in the
OB1) and immediately be linked with their respective instance data blocks.

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To the input “Drive” (type IN_OUT) the variable of the type “DRIVE_DATA” has to be
connected which is provided for this axis.
The input EN and the output ENO of each function block may stay unconnected.
The inputs and outputs “Drive”, “EN” and “ENO” are not listed any more separately in the
following descriptions of the particular function blocks.
5.6 Lockings between the function blocks
The function blocks partly are locked against each other. Thereby it’s ensured e.g. that not two
accesses out of different function blocks can be executed simultaneously on the parameter
channel of an axis.
The following rules apply:
In case the input “Release” of MC_Move is set, the function blocks
MC_Parametrization and MC_ PosParametrization cannot be activated (setting of
“Execute” results in error 16#x100).
In contrast it is possible to call MC_ReadParameter or MC_WriteParameter during a
movement (e.g. in order to read out the actual value of the torque or to change the
target speed during a run).
In case the input “Execute” of MC_Parametrization or MC_ PosParametrization is set ,
the function block MC_Move cannot be activated (setting of “Release” results in error
16#1100).
Always only one of the function blocks MC_ReadParameter, MC_WriteParameter,
MC_Parametrization or MC_ PosParametrization can be active. If the input “Execute”
of one of these function blocks is already set and the input “Execute” of a further
function block is set, this one will report error 16#x100.
The function block MC_Error can always be activated, independently of the other
function blocks.
5.7 Example
The following example shall explane the procedure of involving the function blocks:
In the project three drives are located. Each drive shall be controlled by a function block
MC_Move, additionally it shall be possible to determine the state of each drive with MC_Error
and it shall be possible for each drive to execute any read and write access.
According chapter 5.2 for this purpose we copy the following blocks out of the library into the
project of the user:
When using the library version for Step 7 Classic V5.5:
Copy into “S7 Program Blocks”:
FB116 (“LIB IN/OUT”)
DB116 (“DB_LIB_IN/OUT”)
UDT110 (“DRIVE_DATA”)
SFB4 (“TON”)

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SFC14 (“DPRD_DAT”)
SFC15 (“DPWR_DAT”)
SFC20 (“BLK_MOV”)
FB110 (“MC_Move”)
FB111 (“MC_Error”)
FB112 (“MC_ReadParameter”)
FB113 (“MC_WriteParameter”)
When using one of the library versions for Step 7 TIA V13 + V14:
Copy into “Program blocks”of the desired CPU:
Data type DRIVE_DATA
Data type DT_LIB_IN/OUT
Function block LIB_IN/OUT
FB110 (“MC_Move”)
FB111 (“MC_Error”)
FB112 (“MC_ReadParameter”)
FB113 (“MC_WriteParameter”)
In the next step according chapter 5.3 we generate the following instance data blocks:
three instance data blocks of the type FB110 (“MC_Move”), e.g.
- DB1101, symbolic name = “PSE_1_FB110”
- DB1102, symbolic name = “PSE_2_FB110”
- DB1103, symbolic name = “PSE_3_FB110”
three instance data blocks of the type FB111 (“MC_Error”), e.g.
- DB1111, symbolic name = “PSE_1_FB111”
- DB1112, symbolic name = “PSE_2_FB111”
- DB1113, symbolic name = “PSE_3_FB111”
three instance data blocks of the type FB112 (“MC_ReadParameter”), e.g.
- DB1121, symbolic name = “PSE_1_FB112”
- DB1122, symbolic name = “PSE_2_FB112”
- DB1123, symbolic name = “PSE_3_FB112”
three instance data blocks of the type FB113 (“MC_WriteParameter”), e.g.
- DB1131, symbolic name = “PSE_1_FB113”
- DB1132, symbolic name = “PSE_2_FB113”
- DB1133, symbolic name = “PSE_3_FB113”
After that according chapter 5.4 we generate another data block of the type “global” with the
name DB1000. In that data block we generate three variables of the type “DRIVE_DATA”, e.g.
with the following identifiers:
“PSE_1”
“PSE_2”
“PSE_3”
Additionally there we generate those variables which control the particular blocks, e.g.:
“PSE_1_Move_DINT_TargetPosition”,
“PSE_2_Move_DINT_TargetPosition”,
“PSE_1_Read_BOOL_Execute”,
“PSE_2_Read_BOOL_Execute”,

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…
Now all preparations are done in order to use the function blocks. In the editor “Program
blocks” the function blocks “MC_...” appear in the section “FB blocks”. So in our example the
function blocks MC_Move, MC_Error, MC_ReadParameter and MC_WriteParameter are
inserted each three times in a part of the program that is called cyclically (e.g. in the OB1) and
immediately be linked with their respective instance data blocks.
To the input “Drive” we connect the variable of the type “DRIVE_DATA” which is provided for
this axis (thus “PSE_1”, “PSE_2” and “PSE_3”).
After that we connect the rest of the required inputs and outputs with those variables which are
provided for this purpose (thus “PSE_1_Move_DINT_TargetPosition”, …).
5.8 MC_Move (FB110)
This FB serves to send run commands to the drive.
(View in Step 7 Classic V5.5)
(View in Step 7 TIA V13 + V14)

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Release
Release of the drive
Type: BOOL
Initial value: FALSE
Direction: INPUT
Description:
Run commands will only be executed if this bit is set.
This input directly controls the release bit (bit 4) in the control word. If this input stays
activated and e.g. the readjustment in the drive is activated, the drive readjusts
automatically.
If the input is activated and the target position is changed, the drive immediately moves
to that position. An edge is not necessary.
If the input is deasserted during the run, the drive stops.
Position
Target position to be approached
Type: DINT
Initial value: 0
Direction: INPUT
Description:
If during a run a new target position is sent, this target position is approached
immediately.
If the release bit is still set after the end of a run and the target position is changed, the
drive immediately approaches to that position.
INFORMATION!
In order to move to the same target position e.g. after a blocking condition,
the release has to be deasserted and asserted again.
ManualRunToLargerValues
Manual run to larger values
Type: BOOL
Initial value: FALSE
Direction: INPUT
Description:
Manual run to larger values, finishing at the positive range limit.
Additionally the input “Release” has to be on resp. set.
CAUTION!
When deasserting the input “ManualRunToLargerValues”, additionally the
release input has to be deasserted. Otherwise the drive will move to the
target position (FB input “Position”).
ManualRunToSmallerValues
Manual run to smaller values
Type: BOOL
Initial value: FALSE
Direction: INPUT
Description:

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Manual run to larger values, finishing at the negative range limit.
Additionally the input “Release” has to be on resp. set.
CAUTION!
When deasserting the input “ManualRunToSmallerValues”, additionally the
release input has to be deasserted. Otherwise the drive will move to the
target position (FB input “Position”).
Active
Run command or run is active
Type: BOOL
Direction: OUTPUT
This output is asserted, if:
the release bit is set from 0 to 1 (rising edge)
the release is already present and the target position is changing
the bit “drive is running” in the status word of the drive is set (e.g. when the drive is
readjusting its position)
This output is deasserted, if:
at the end of a run the bit “drive is running” in the status word of the drive is no longer
set
a communication error occurs
InPosition
Target position reached
Type: BOOL
Direction: OUTPUT
This output is a copy of the status bit “target position reached”. If a communication error
occurs, it will be deasserted.
Actual position
Actual value of the position
Type: DINT
Direction: OUTPUT
This value is a copy of the actual position. If a communication error occurs, the value will be
set to 0.
Error
Error while executing the FB or error in drive
Type: BOOL
Direction: OUTPUT
The error bit also might be set during a move of the drive (e.g. drag error).
ErrorID
Error code
Type: WORD
Direction: OUTPUT
The error bit also might be set during a move of the drive (e.g. drag error). In case of no error,
the value is set to 0.

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The outputs „Error“ and „ErrorID“ of MC_Move are always updated –also if
the input „Release“ is not set.
If the drive reports multiple errors, the ErrorID with the highest priority is shown. This priority
corresponds to the order in the following table (highest priority has 16#x1xx):
ErrorID
Description
16#x1xx
FB internal error
16#x2xx
Invalid PD input address
16#x3xx
Invalid PD output address
16#x4xx
Error while reading PD
16#x5xx
Error while writing PD
16#xxx2
Under- or overvoltage motor supply
16#xxx4
Temperature exceeded
16#xxx5
Absolute measuring system error
16#xxx8
Incorrect target value
16#xxx9
Under- or overvoltage during run
16#xxx6
Block or overcurrent error
16#xxx7
Manual displacement
16#xxxA
Lower position limit exceeded
16#xxxB
Upper position limit exceeded
16#xxx3
Positioning run aborted
16#xxx1
Drag error

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5.9 MC_Error (FB111)
This FB reports the state of the drive and the FB as error bit, error code (“ErrorID”) and as text.
In the case that MC_Error is activated, the error code is always the same as the error code of
the function block MC_Move.
(View in Step 7 Classic V5.5)
(View in Step 7 TIA V13 + V14)
Enable
The outputs Error, ErrorID and ErrorDescription permanently are updated by the drive, as long
as Enable is set. If Enable is deasserted, these outputs switch to their default values.
Type: BOOL
Initial value: FALSE
Direction: INPUT
Error
Error while executing the FB or error in drive
Type: BOOL
Default value: FALSE
Direction: OUTPUT
ErrorID
Error code (see following table “ErrorID”)
Type: WORD
Default value: 0
Direction: OUTPUT

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ErrorDescription
Error Description as text
Type: STRING
Default value: “”
Direction: OUTPUT
The priority corresponds to the order in the following table (highest priority has 16#x1xx).
ErrorID
ErrorDescription
16#x1xx
FB internal error
16#x2xx
Invalid PD input address
16#x4xx
Error while reading PD
16#xxx2
Under- or overvoltage motor supply
16#xxx4
Temperature exceeded
16#xxx5
Absolute measuring system error
16#xxx8
Incorrect target value
16#xxx9
Under- or overvoltage during run
16#xxx6
Block or overcurrent error
16#xxx7
Manual displacement
16#xxxA
Lower position limit exceeded
16#xxxB
Upper position limit exceeded
16#xxx3
Positioning run aborted
16#xxx1
Drag error
5.10 MC_ReadParameter (FB112)
With this FB values of parameters can be read by the drive. Each parameter can be read
except par. 13 (“device model as string”).
(View in Step 7 Classic V5.5)

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(View in Step 7 TIA V13 + V14)
Execute
Start of a reading process
Type: BOOL
Initial value: FALSE
Direction: INPUT
Description:
When issuing a rising edge, a reading process of the parameter which is specified by
“ParameterNumber” and “Subindex” is started. For a new reading process, a new rising edge
has to be generated. When deasserting the bit, the outputs fall back to their specified default
value.
ParameterNumber
Parameter number of the parameter to be read
Type: INT
Initial value: 0
Direction: INPUT
SubIndex
Array subindex of the parameter
Type: INT
Initial value: 0
Direction: INPUT
Active
Bit is set as long as the reading process is active
Type: BOOL
Default value: FALSE
Direction: OUTPUT
The bit is being deasserted as soon as the value has been read or an error occurred.
Done
Bit is set as soon as the parameter has been read successfully and is available in “Value”
Type: BOOL
Default value: FALSE
Direction: OUTPUT
The bit is being deasserted when starting a reading process.

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Error
Bit is set if an error occurred during the execution of the FB
Type: BOOL
Default value: FALSE
Direction: OUTPUT
ErrorID
Error code (see table “ErrorID” in chapter 4)
Type: WORD
Default value: 0
Direction: OUTPUT
Drive errors are not considered when reading a parameter.
Value
Actual value of the parameter which has been read
Type: DINT
Default value: 0
Direction: OUTPUT
When an error occurred, the value will be 0.
5.11 MC_WriteParameter (FB113)
With this FB values of parameters can be written into the drive.
(View in Step 7 Classic V5.5)
(View in Step 7 TIA V13 + V14)