YASKAWA FM 054 User manual

FM | 054-1DA00 | Manual
HB300 | FM | 054-1DA00 | en | 18-06
VIPA System SLIO
Motion module - Pulse Train RS422 - FM 054
www.vipa.com/en/service-support/manuals

054-1DA00_000_FM054 PulseTrain,5,EN - © 2018
VIPA GmbH
Ohmstr. 4
91074 Herzogenaurach
Telephone: [phone]
Fax: [phone]
Email: [email protected]
Internet: www.vipa.com

Table of contents
1 General.................................................................................................................... 5
1.1 Copyright © VIPA GmbH ................................................................................. 5
1.2 About this manual............................................................................................. 6
1.3 Safety information............................................................................................. 7
2 Basics and mounting............................................................................................. 8
2.1 Safety information for users.............................................................................. 8
2.2 System conception........................................................................................... 9
2.2.1 Overview........................................................................................................ 9
2.2.2 Components................................................................................................ 10
2.2.3 Accessories................................................................................................. 12
2.3 Dimensions..................................................................................................... 13
2.4 Mounting periphery modules.......................................................................... 16
2.5 Wiring periphery modules............................................................................... 19
2.6 Wiring power modules.................................................................................... 21
2.7 Demounting periphery modules...................................................................... 26
2.8 Trouble shooting - LEDs................................................................................. 29
2.9 Installation guidelines..................................................................................... 30
2.10 General data................................................................................................. 32
3 Hardware description........................................................................................... 34
3.1 Properties....................................................................................................... 34
3.2 Structure......................................................................................................... 35
3.3 Block diagram................................................................................................. 38
3.4 Technical data................................................................................................. 39
4 Deployment........................................................................................................... 42
4.1 Basics............................................................................................................. 42
4.1.1 Pulse train module....................................................................................... 43
4.1.2 Structure of a positioning control................................................................. 44
4.2 Commissioning............................................................................................... 45
4.2.1 Installation................................................................................................... 45
4.2.2 Inspections and tests before the test operation........................................... 45
4.2.3 Start-up of the System SLIO motion module............................................... 45
4.3 Connecting a power stage.............................................................................. 47
4.3.1 Connection options...................................................................................... 47
4.4 Drive profile.................................................................................................... 48
4.4.1 Overview...................................................................................................... 48
4.4.2 States.......................................................................................................... 49
4.4.3 Operating modes......................................................................................... 50
4.5 Homing........................................................................................................... 52
4.5.1 Homing by means of a homing switch......................................................... 53
4.5.2 Homing to current position........................................................................... 55
4.6 PtP positioning profile..................................................................................... 56
4.6.1 Examples..................................................................................................... 61
4.7 Velocity profile................................................................................................ 67
4.8 Deployment I/O1...I/O4................................................................................... 70
4.8.1 Objects........................................................................................................ 72
4.8.2 Usage as input for incremental encoder...................................................... 72
4.9 Brake control.................................................................................................. 73
VIPA System SLIO Table of contents
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4.10 In-/Output area............................................................................................. 74
4.11 Acyclic channel............................................................................................. 76
4.12 Parameter data............................................................................................. 77
4.12.1 Parameter.................................................................................................. 77
4.13 Scaling and units.......................................................................................... 79
4.14 Monitoring and error reaction....................................................................... 79
4.14.1 Overview.................................................................................................... 79
4.14.2 Monitoring.................................................................................................. 81
4.15 Diagnostics and interrupt.............................................................................. 82
4.16 Example: 054-1DA00 with YASKAWA Sigma 5 mini.................................... 84
4.16.1 Job definition............................................................................................. 84
4.16.2 Wiring........................................................................................................ 85
4.16.3 Commissioning of the power stage........................................................... 86
4.16.4 Configuration of the System SLIO motion module.................................... 88
4.16.5 Setting of the objects................................................................................. 89
4.16.6 Test operation............................................................................................ 90
5 Object dictionary.................................................................................................. 91
5.1 Use................................................................................................................. 91
5.2 Objects........................................................................................................... 92
5.2.1 Overview...................................................................................................... 92
5.2.2 Information about the product - 0x1000...0x1018........................................ 95
5.2.3 Passwords and security - 0x1100................................................................ 97
5.2.4 System command - 0x6100......................................................................... 97
5.2.5 Digital inputs I/O1...I/O4 - 0x7100............................................................... 98
5.2.6 Digital output I/O1...I/O4 - 0x7200............................................................. 100
5.2.7 Control drive - 0x8100............................................................................... 103
5.2.8 Configure drive - 0x8180........................................................................... 109
5.2.9 Options - 0x8200....................................................................................... 110
5.2.10 Operating modes - 0x8280...................................................................... 111
5.2.11 Homing - 0x8300...................................................................................... 113
5.2.12 Parameter for the PtP positioning profile - 0x8400.................................. 116
5.2.13 Positions and limit values - 0x8480......................................................... 117
5.2.14 Velocities and limit values - 0x8500......................................................... 120
5.2.15 Acceleration and deceleration - 0x8580.................................................. 121
5.2.16 Voltages - 0x8680.................................................................................... 122
5.2.17 Temperatures - 0x8780............................................................................ 125
5.2.18 Pulse train parameter - 0x8E00............................................................... 126
5.2.19 Encoder resolution - 0x8F00................................................................... 131
VIPA System SLIO
Table of contents
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1 General
1.1 Copyright © VIPA GmbH
This document contains proprietary information of VIPA and is not to be disclosed or used
except in accordance with applicable agreements.
This material is protected by the copyright laws. It may not be reproduced, distributed, or
altered in any fashion by any entity (either internal or external to VIPA), except in accord-
ance with applicable agreements, contracts or licensing, without the express written con-
sent of VIPA and the business management owner of the material.
For permission to reproduce or distribute, please contact: VIPA, Gesellschaft für Visuali-
sierung und Prozessautomatisierung mbH Ohmstraße 4, D-91074 Herzogenaurach, Ger-
many
Tel.: [phone]
Fax.: [phone]
EMail: [email protected]
http://www.vipa.com
Every effort has been made to ensure that the information contained in
this document was complete and accurate at the time of publishing. Nev-
ertheless, the authors retain the right to modify the information.
This customer document describes all the hardware units and functions
known at the present time. Descriptions may be included for units which
are not present at the customer site. The exact scope of delivery is
described in the respective purchase contract.
Hereby, VIPA GmbH declares that the products and systems are in compliance with the
essential requirements and other relevant provisions. Conformity is indicated by the CE
marking affixed to the product.
For more information regarding CE marking and Declaration of Conformity (DoC), please
contact your local VIPA customer service organization.
VIPA, SLIO, System 100V, System 200V, System 300V, System 300S, System 400V,
System 500S and Commander Compact are registered trademarks of VIPA Gesellschaft
für Visualisierung und Prozessautomatisierung mbH.
SPEED7 is a registered trademark of profichip GmbH.
SIMATIC, STEP, SINEC, TIA Portal, S7-300 and S7-400 are registered trademarks of
Siemens AG.
Microsoft and Windows are registered trademarks of Microsoft Inc., USA.
Portable Document Format (PDF) and Postscript are registered trademarks of Adobe
Systems, Inc.
All other trademarks, logos and service or product marks specified herein are owned by
their respective companies.
Contact your local VIPA Customer Service Organization representative if you wish to
report errors or questions regarding the contents of this document. If you are unable to
locate a customer service centre, contact VIPA as follows:
All Rights Reserved
CE Conformity Declaration
Conformity Information
Trademarks
Information product sup-
port
VIPA System SLIO General
Copyright © VIPA GmbH
HB300 | FM | 054-1DA00 | en | 18-06 5

VIPA GmbH, Ohmstraße 4, 91074 Herzogenaurach, Germany
Telefax: [phone]
EMail: [email protected]
Contact your local VIPA Customer Service Organization representative if you encounter
problems with the product or have questions regarding the product. If you are unable to
locate a customer service centre, contact VIPA as follows:
VIPA GmbH, Ohmstraße 4, 91074 Herzogenaurach, Germany
Tel.: [phone] (Hotline)
EMail: [email protected]
1.2 About this manual
This manual describes the Motion module FM 054-1DA00 of the System SLIO from VIPA.
It contains a description of the structure, project engineering and deployment.
Product Order number as of state:
HW FW
FM 054 Pulse Train 054-1DA00 01 V1.1.2
The manual is targeted at users who have a background in automation technology.
The manual consists of chapters. Every chapter provides a self-contained description of a
specific topic.
The following guides are available in the manual:
nAn overall table of contents at the beginning of the manual
nReferences with page numbers
The manual is available in:
nprinted form, on paper
nin electronic form as PDF-file (Adobe Acrobat Reader)
Important passages in the text are highlighted by following icons and headings:
DANGER!
Immediate or likely danger. Personal injury is possible.
CAUTION!
Damages to property is likely if these warnings are not heeded.
Technical support
Objective and contents
Target audience
Structure of the manual
Guide to the document
Availability
Icons Headings
VIPA System SLIO
General
About this manual
HB300 | FM | 054-1DA00 | en | 18-06 6

Supplementary information and useful tips.
1.3 Safety information
The system is constructed and produced for:
ncommunication and process control
ngeneral control and automation tasks
nindustrial applications
noperation within the environmental conditions specified in the technical data
ninstallation into a cubicle
DANGER!
This device is not certified for applications in
– in explosive environments (EX-zone)
The manual must be available to all personnel in the
nproject design department
ninstallation department
ncommissioning
noperation
CAUTION!
The following conditions must be met before using or commis-
sioning the components described in this manual:
– Hardware modifications to the process control system should only be
carried out when the system has been disconnected from power!
– Installation and hardware modifications only by properly trained per-
sonnel.
– The national rules and regulations of the respective country must be
satisfied (installation, safety, EMC ...)
National rules and regulations apply to the disposal of the unit!
Applications conforming
with specifications
Documentation
Disposal
VIPA System SLIO General
Safety information
HB300 | FM | 054-1DA00 | en | 18-06 7

2 Basics and mounting
2.1 Safety information for users
VIPA modules make use of highly integrated components in MOS-Technology. These
components are extremely sensitive to over-voltages that can occur during electrostatic
discharges. The following symbol is attached to modules that can be destroyed by elec-
trostatic discharges.
The Symbol is located on the module, the module rack or on packing material and it indi-
cates the presence of electrostatic sensitive equipment. It is possible that electrostatic
sensitive equipment is destroyed by energies and voltages that are far less than the
human threshold of perception. These voltages can occur where persons do not dis-
charge themselves before handling electrostatic sensitive modules and they can damage
components thereby, causing the module to become inoperable or unusable. Modules
that have been damaged by electrostatic discharges can fail after a temperature change,
mechanical shock or changes in the electrical load. Only the consequent implementation
of protection devices and meticulous attention to the applicable rules and regulations for
handling the respective equipment can prevent failures of electrostatic sensitive modules.
Modules must be shipped in the original packing material.
When you are conducting measurements on electrostatic sensitive modules you should
take the following precautions:
nFloating instruments must be discharged before use.
nInstruments must be grounded.
Modifying electrostatic sensitive modules you should only use soldering irons with
grounded tips.
CAUTION!
Personnel and instruments should be grounded when working on electro-
static sensitive modules.
Handling of electrostatic
sensitive modules
Shipping of modules
Measurements and altera-
tions on electrostatic sen-
sitive modules
VIPA System SLIO
Basics and mounting
Safety information for users
HB300 | FM | 054-1DA00 | en | 18-06 8

2.2 System conception
2.2.1 Overview
System SLIO is a modular automation system for assembly on a 35mm mounting rail. By
means of the peripheral modules with 2, 4 or 8 channels this system may properly be
adapted matching to your automation tasks. The wiring complexity is low, because the
supply of the DC 24V power section is integrated to the backplane bus and defective
modules may be replaced with standing wiring. By deployment of the power modules in
contrasting colors within the system, further isolated areas may be defined for the DC
24V power section supply, respectively the electronic power supply may be extended with
2A.
VIPA System SLIO Basics and mounting
System conception > Overview
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2.2.2 Components
nCPU (head module)
nBus coupler (head module)
nLine extension
nPeriphery modules
nAccessories
CAUTION!
Only modules of VIPA may be combined. A mixed operation with third-
party modules is not allowed!
With this CPU 01xC, the CPU electronic, input/output components and power supply are
integrated to one casing. In addition, up to 64 periphery modules of the System SLIO can
be connected to the backplane bus. As head module via the integrated power supply
CPU electronic and the I/O components are power supplied as well as the electronic of
the connected periphery modules. To connect the power supply of the I/O components
and for DC 24V power supply of via backplane bus connected peripheral modules, the
CPU has removable connectors. By installing of up to 64 periphery modules at the back-
plane bus, these are electrically connected, this means these are assigned to the back-
plane bus, the electronic modules are power supplied and each periphery module is con-
nected to the DC 24V power section supply.
With this CPU 01x, the CPU electronic and power supply are integrated to one casing. As
head module, via the integrated power module for power supply, CPU electronic and the
electronic of the connected periphery modules are supplied. The DC 24 power section
supply for the linked periphery modules is established via a further connection of the
power module. By installing of up to 64 periphery modules at the backplane bus, these
are electrically connected, this means these are assigned to the backplane bus, the elec-
tronic modules are power supplied and each periphery module is connected to the DC
24V power section supply.
CAUTION!
CPU part and power module may not be separated!
Here you may only exchange the electronic module!
With a bus coupler bus interface and power module is integrated to one casing. With the
bus interface you get access to a subordinated bus system. As head module, via the inte-
grated power module for power supply, bus interface and the electronic of the connected
periphery modules are supplied. The DC 24 power section supply for the linked periphery
modules is established via a further connection of the power module. By installing of up to
64 periphery modules at the bus coupler, these are electrically connected, this means
these are assigned to the backplane bus, the electronic modules are power supplied and
each periphery module is connected to the DC 24V power section supply.
CPU 01xC
CPU 01x
Bus coupler
VIPA System SLIO
Basics and mounting
System conception > Components
HB300 | FM | 054-1DA00 | en | 18-06 10

CAUTION!
Bus interface and power module may not be separated!
Here you may only exchange the electronic module!
In the System SLIO there is the possibility to place up to 64 modules in on line. By means
of the line extension you can divide this line into several lines. Here you have to place a
line extension master at each end of a line and the subsequent line has to start with a line
extension slave. Master and slave are to be connected via a special connecting cable. In
this way, you can divide a line on up to 5 lines. For each line extension the maximum
number of pluggable modules at the System SLIO bus is decreased by 1. To use the line
extension no special configuration is required.
Each periphery module consists of a terminal and an electronic module.
1 Terminal module
2 Electronic module
The terminal module serves to carry the electronic module, contains the backplane bus
with power supply for the electronic, the DC 24V power section supply and the staircase-
shaped terminal for wiring. Additionally the terminal module has a locking system for
fixing at a mounting rail. By means of this locking system your SLIO system may be
assembled outside of your switchgear cabinet to be later mounted there as whole system.
Line extension
Periphery modules
Terminal module
VIPA System SLIO Basics and mounting
System conception > Components
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The functionality of a SLIO periphery module is defined by the electronic module, which is
mounted to the terminal module by a sliding mechanism. With an error the defective
module may be exchanged for a functional module with standing installation. At the front
side there are LEDs for status indication. For simple wiring each module shows a corre-
sponding connection diagram at the front and at the side.
2.2.3 Accessories
The shield bus carrier (order no.: 000-0AB00) serves to carry the shield bus (10mm x
3mm) to connect cable shields. Shield bus carriers, shield bus and shield fixings are not
in the scope of delivery. They are only available as accessories. The shield bus carrier is
mounted underneath the terminal of the terminal module. With a flat mounting rail for
adaptation to a flat mounting rail you may remove the spacer of the shield bus carrier.
With each head module, to protect the backplane bus connectors, there is a mounted bus
cover in the scope of delivery. You have to remove the bus cover of the head module
before mounting a System SLIO module. For the protection of the backplane bus con-
nector you always have to mount the bus cover at the last module of your system again.
The bus cover has the order no. 000-0AA00.
There is the possibility to fix the assignment of electronic and terminal module. Here
coding pins (order number 000-0AC00) from VIPA can be used. The coding pin consists
of a coding jack and a coding plug. By combining electronic and terminal module with
coding pin, the coding jack remains in the electronic module and the coding plug in the
terminal module. This ensures that after replacing the electronics module just another
electronic module can be plugged with the same encoding.
Electronic module
Shield bus carrier
Bus cover
Coding pins
VIPA System SLIO
Basics and mounting
System conception > Accessories
HB300 | FM | 054-1DA00 | en | 18-06 12

2.3 Dimensions
Dimensions CPU 01xC
Dimensions CPU 01x
VIPA System SLIO Basics and mounting
Dimensions
HB300 | FM | 054-1DA00 | en | 18-06 13

Dimensions bus coupler
and line extension slave
Dimensions line extension
master
VIPA System SLIO
Basics and mounting
Dimensions
HB300 | FM | 054-1DA00 | en | 18-06 14

Dimensions in mm
Dimension periphery
module
Dimensions electronic
module
VIPA System SLIO Basics and mounting
Dimensions
HB300 | FM | 054-1DA00 | en | 18-06 15

2.4 Mounting periphery modules
Requirements for UL compliance use
–Use for power supply exclusively SELV/PELV power supplies.
–The System SLIO must be installed and operated in a housing
according to IEC 61010-1 9.3.2 c).
There is a locking lever at the top side of the module. For mounting and demounting this
locking lever is to be turned upwards until this engages. For mounting place the module
to the module installed before and push the module to the mounting rail guided by the
strips at the upper and lower side of the module. The module is fixed to the mounting rail
by pushing downward the locking lever. The modules may either separately be mounted
to the mounting rail or as block. Here is to be considered that each locking lever is
opened. The modules are each installed on a mounting rail. The electronic and power
section supply are connected via the backplane bus. Up to 64 modules may be mounted.
Please consider here that the sum current of the electronic power supply does not
exceed the maximum value of 3A. By means of the power module 007-1AB10 the current
of the electronic power supply may be expanded accordingly.
Each periphery module consists of a terminal and an electronic module.
1 Terminal module
2 Electronic module
For the exchange of a electronic module, the electronic module may be pulled forward
after pressing the unlocking lever at the lower side of the module. For installation plug the
electronic module guided by the strips at the lower side until this engages audible to the
terminal module.
Terminal and electronic
module
VIPA System SLIO
Basics and mounting
Mounting periphery modules
HB300 | FM | 054-1DA00 | en | 18-06 16

There is the possibility to fix the assignment of electronic and terminal module. Here
coding pins (order number 000-0AC00) from VIPA can be used. The coding pin consists
of a coding jack and a coding plug. By combining electronic and terminal module with
coding pin, the coding jack remains in the electronic module and the coding plug in the
terminal module. This ensures that after replacing the electronics module just another
electronic module can be plugged with the same encoding.
Each electronic module has on its back 2 coding sockets for coding jacks. Due to the
characteristics, with the coding jack 6 different positions can be plugged, each. Thus
there are 36 possible combinations for coding with the use of both coding sockets.
1. Plug, according to your coding, 2 coding jacks in the coding sockets of your elec-
tronic module until they lock
2. Now plug the according coding plugs into the coding jacks.
3. To fix the coding put both the electronic and terminal module together until they lock
CAUTION!
Please consider that when replacing an already coded electronic module,
this is always be replaced by an electronic module with the same coding.
Even with an existing coding on the terminal module, you can plug an
electronic module without coding. The user is responsible for the correct
usage of the coding pins. VIPA assumes no liability for incorrectly
attached electronic modules or for damages which arise due to incorrect
coding!
Coding
VIPA System SLIO Basics and mounting
Mounting periphery modules
HB300 | FM | 054-1DA00 | en | 18-06 17

1. Mount the mounting rail! Please consider that a clearance from the middle of the
mounting rail of at least 80mm above and 60mm below, respectively 80mm by
deployment of shield bus carriers, exist.
2. Mount your head module such as CPU or field bus coupler.
3. Before mounting the periphery modules you have to remove the bus cover at the
right side of the Head module by pulling it forward. Keep the cover for later
mounting.
4. For mounting turn the locking lever of the module upward until it engages.
5. For mounting place the module to the module installed before and push the module
to the mounting rail guided by the strips at the upper and lower side of the module.
6. Turn the locking lever of the periphery module downward, again.
Mounting periphery
modules
VIPA System SLIO
Basics and mounting
Mounting periphery modules
HB300 | FM | 054-1DA00 | en | 18-06 18

7. After mounting the whole system, to protect the backplane bus connectors at the
last module you have to mount the bus cover, now. If the last module is a clamp
module, for adaptation the upper part of the bus cover is to be removed.
2.5 Wiring periphery modules
CAUTION!
Do not connect hazardous voltages!
If this is not explicitly stated in the corresponding module description,
hazardous voltages are not allowed to be connected to the corresponding
terminal module!
With wiring the terminal modules, terminals with spring clamp technology are used for
wiring. The spring clamp technology allows quick and easy connection of your signal and
supply lines. In contrast to screw terminal connections this type of connection is vibration
proof.
Umax 240V AC / 30V DC
Imax 10A
Cross section 0.08 ... 1.5mm2 (AWG 28 ... 16)
Stripping length 10mm
1 Pin number at the connector
2 Opening for screwdriver
3 Connection hole for wire
Terminal module terminals
Data
Wiring procedure
VIPA System SLIO Basics and mounting
Wiring periphery modules
HB300 | FM | 054-1DA00 | en | 18-06 19

1. Insert a suited screwdriver at an angel into the square opening as shown. Press
and hold the screwdriver in the opposite direction to open the contact spring.
2. Insert the stripped end of wire into the round opening. You can use wires with a
cross section of 0.08mm2 up to 1.5mm2
3. By removing the screwdriver, the wire is securely fixed via the spring contact to the
terminal.
1 Shield bus carrier
2 Shield bus (10mm x 3mm)
3 Shield clamp
4 Cable shield
To attach the shield the mounting of shield bus carriers are necessary. The shield bus
carrier (available as accessory) serves to carry the shield bus to connect cable shields.
1. Each System SLIO module has a carrier hole for the shield bus carrier. Push the
shield bus carrier, until they engage into the module. With a flat mounting rail for
adaptation to a flat mounting rail you may remove the spacer of the shield bus car-
rier.
2. Put your shield bus into the shield bus carrier.
3. Attach the cables with the accordingly stripped cable screen and fix it by the shield
clamp with the shield bus.
Shield attachment
VIPA System SLIO
Basics and mounting
Wiring periphery modules
HB300 | FM | 054-1DA00 | en | 18-06 20