Basic Parameterization and Initial Start-Up
Before interacting with the hardware system, the track layout has to be created using the MagneMotion ML Configurator Tool of MagneMotion.
Then the track layout has to be uploaded to the MagneMotion controllers that are used in the system.
For detailed information on how to create and upload the track layout, refer to the documentation "MagneMotion, 990000436 – MANUAL, HOST CONTROLLER TCP COMMUNICATION PROTOCOL.pdf”, page 1-6 “Getting Started with the TCP Communication Protocol” (Rev. A, 2012)".
NOTE: The options Obstructed Status Notification and Automatic Path Recovery in the MagneMotion ML Configurator Tool are not supported and must be deselected in that tool.
Furthermore, ensure that the controllers are supplied with additional files such as “Motor Images”. This is done by using the web interface of each controller in the MagneMotion transport system.
NOTE: The present version of the this library supports MagneMover LITE components with firmware version 4.x.x.
Connecting the Controllers and Devices
After interconnecting the controllers and motors in the system, the controller which has been set to function as the High Level Controller (HLC) needs to be connected to the PacDrive LMC.
If the MagneMotion transport system is the only device in your EcoStruxure Machine Expert application project, use one of the Sercos ports for this connection. Otherwise, connect the devices using a Sercos topology and include a Sercos IP Switch to have access to the Unified Communication Channel (UCC) where the physical connection to the HLC will be established.
Steps in EcoStruxure Machine Expert
TransportationSystemCommunication
These steps automatically add the functional library TransportationSystemCommunication to the Library Manager of SoMotion Motion Logic Builder.
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Step |
Action |
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1 |
Right-click --> Sercos Master Note and select Add Device |
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2 |
Select --> 3rd party Transport System Controller and click Add Device to add an instance of 3rd party Transport System Controller. |
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3 |
Add the function block FB_Connection in the application (see FB_Connection). Note: This represents the interface to or between the monitor and control the transport system. |
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4 |
Declare the following variables: stControllerParameter: TSC.ST_ControllerParameter; |
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5 |
Use the structure ST_ControllerParameter in the hardware system to: oSpecify the IP address of the HLC (stControllerParameter.i_slpAddress). oDefine the number of paths (stControllerParameter.i_udiNumberOfPaths). oDefine the number of vehicles (stControllerParameter.i_udiNumberOfVehicles). |
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6 |
Make sure that the number of paths and the number of vehicles do not exceed the system limits defined in GPL (see GPL). |
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7 |
Increase the values in GPL if these numbers exceed the system limits defined in GPL (see GPL). |
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8 |
Enable the function block ( i_xEnable := TRUE). Result: The follow steps to start-up the MagneMotion system are executed internally: oestablishing a TCP/IP connection to the HLC overifying whether the system is operational and ready to use oresetting the paths to ensure no previous/old data interferes ostarting up the paths ogetting the present path and vehicle data of the system |
For more detailed information, refer to the documentation "MagneMotion, 990000436 – MANUAL, HOST CONTROLLER TCP COMMUNICATION PROTOCOL.pdf, page 2-3 “Running the Transport System” (Rev. A, 2012)".
oAfterwards, the output q_xReady of FB_Connection is set to TRUE and q_etDiagExt is set to Working, indicating the transport system is ready to use.
NOTE: The vehicle ID mapping is done by the HLC which means that you have to consult iq_stCurrentPosition.q_rPosition and iq_stCurrentPosition.q_uiPathId in ST_Vehicle to determine the physical location within the hardware system.
For a simple example describing the way of interacting with the system, refer to Principal interaction with FB_Connection.
oTo disconnect and shutdown the transport system, disable the function block (i_xEnable := FALSE) and wait until the following, internal steps have been executed:
oSuspending movements on all paths.
oResetting all paths.
oClosing the connection.
As a result the output q_etDiagExt of FB_Connection is set to Disabled.
NOTE: The described steps base on the document “990000436 – MANUAL, HOST CONTROLLER TCP COMMUNICATION PROTOCOL.pdf” page 2-23 “Shutting Down the Transport System” (Rev. A, 2012).
